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IEEE Transactions on Haptics

Baek Sang-Yun, Park Sungjun, Jeha Ryu
This paper proposes a new relative motion-based dynamic force bounding approach (dynamic FBA) for stably interacting with dynamic multi-degrees of freedom (DOF) virtual objects. Considering the relative motion of the moving virtual object and human operator, a new multi-DOF passivity condition is derived in the joint space to easily cover the rotational motion in the task space. This approach overcomes some of the limitations of previous static approaches, which could not display the interaction force with moving virtual objects, because they only considered the motion of the operator in their controllers...
August 29, 2018: IEEE Transactions on Haptics
Khaled Fellah, Mohamed Guiatni
Spatial disorientation and visual channel saturation are defined as critical situations encountered by military pilots. Such subjects are interesting research areas likely to create innovative systems able to surmount obstacles of this kind. The integration of new stimulation techniques (sensory substitute, adjunct for visual and audio feedback) may be considered to make the visual channel better. This contribution may help in integrating tactile stimulation to improve or substitute the visual channel. It may also help to better interpret the spatial disorientation awareness signals and the vestibulo-ocular response limitations...
August 13, 2018: IEEE Transactions on Haptics
Matti Strese, Rania Hassen, Andreas Noll, Eckehard Steinbach
We present a novel input/output device to display the tactile properties of surface materials. The proposed Tactile Computer Mouse (TCM) is equipped with a series of actuators that can create perceptually relevant tactile cues to a user. The display capabilities of our TCM match the major tactile dimensions in human surface material perception, namely, hardness, friction, warmth, microscopic roughness, and macroscopic roughness. The TCM also preserves necessary interaction capabilities of a typical computer mouse...
August 10, 2018: IEEE Transactions on Haptics
Tricia L Gibo, Myrthe Plaisier, Winfred Mugge, David A Abbink
When using an automated system, user trust in the automation is an important factor influencing performance. Prior studies have analyzed trust during supervisory control of automation, and how trust influences reliance: the behavioral correlate of trust. Here, we investigated how reliance on haptic assistance affects performance during shared control with an automated system. Subjects made reaches towards a hidden target using a visual cue and haptic cue (assistance from the automation). We sought to influence reliance by changing the variability of trial-by-trial random errors in the haptic assistance...
August 7, 2018: IEEE Transactions on Haptics
Alan Del Piccolo, Davide Rocchesso, Stefano Papetti
Path-following tasks have been investigated mostly under visual conditions, that is when subjects are able to see both the path and the tool, or limb, used for navigation. Moreover, only basic path shapes are usually adopted. In the present experiment, participants must rely exclusively on audio and vibrotactile feedback to follow a path on a flat surface. Two different, asymmetric path shapes were tested. Participants navigated by moving their index finger over a surface sensing position and force. Results show that the different non-visual feedback modes did not affect the task's accuracy, yet they affected its speed, with vibrotactile feedback causing slower gestures than audio feedback...
July 31, 2018: IEEE Transactions on Haptics
Charlotte M Reed, Hong Z Tan, Zach D Perez, E Courtenay Wilson, Frederico M Severgnini, Jaehong Jung, Juan Sebastian Martinez, Yang Jiao, Ali Israr, Frances Lau, Keith Klumb, Robert Turcott, Freddy Abnousi
Despite a long history of research, the development of synthetic tactual aids to support the communication of speech has proven to be a difficult task. The current paper describes a new tactile speech device based on the presentation of phonemic-based tactile codes. The device consists of 24 tactors under independent control for stimulation at the forearm. Using properties that include frequency and waveform of stimulation, amplitude, spatial location, and movement characteristics, unique tactile codes were designed for 39 consonant and vowel phonemes of the English language...
July 30, 2018: IEEE Transactions on Haptics
Jian Jiao, Dangxiao Wang, Yuru Zhang, Dekun Cao, Yon Visell, Xingwei Guo, Xiaoying Sun
Designing algorithms for rendering haptic texture on electrostatic tactile displays requires a quantitative understanding of human perception. In this paper, we report detection and discrimination thresholds for haptic gratings rendered on such displays based on the waveform and amplitude of the applied voltage. The haptic gratings consist of functions that describe the variation in voltage amplitude as a function of the position of finger on the display. Four types of virtual haptic gratings are considered in two experiments...
July 25, 2018: IEEE Transactions on Haptics
Gunhyuk Park, Hojun Cha, Seungmoon Choi
This paper showcases attachable/detachable haptic modules, nicknamed haptic enchanters, by presenting their conceptual prototypes and quantifying their information transmission capacity. Haptic enchanters can be attached to ordinary devices and wearables to endow them with the ability of creating programmable haptic stimuli, thereby transforming them to effective haptic communication devices. In particular, our prototype enchanters are designed to localize vibrotactile stimulation to the neighborhood of attachment site, and this spatial isolation allows for effective spatiotemporal information delivery using multiple enchanters...
July 25, 2018: IEEE Transactions on Haptics
David E Caballero, Eric Rombokas
The two point discrimination test is a well known means of assessing tactile sensory acuity. In this paper, we describe a similar test wherein one point of stimulation is tactile and the other one is visual. We propose this test to measure how vision and taction combine to form a unified touch percept, in the presence of sensory conflict. We perform the test at the leg above the knee, using virtual reality to render the visual "touch" while the real touch occurs by means of a monofilament. The results are compared with those obtained from a traditional two point discrimination test performed at the same location...
July 25, 2018: IEEE Transactions on Haptics
Yoren Gaffary, Ferran Argelaguet Sanz, Maud Marchal, Adrien Girard, Florian Gosselin, Mathieu Emily, Anatole Lecuyer
This paper studies the possibility to convey information using tactile stimulation on fingertips. We designed and evaluated three tactile alphabets which are rendered by stretching the skin of the index's fingertip: (1) a Morse-like alphabet, (2) a symbolic alphabet using two successive dashes, and (3) a display of Roman letters based on the Unistrokes alphabet. All three alphabets (26 letters each) were evaluated through a user study in terms of recognition rate, intuitiveness and learning. Participants were able to perceive and recognize the letters with very good results (80%-97% recognition rates)...
July 11, 2018: IEEE Transactions on Haptics
Yasemin Vardar, Burak Guclu, Cagatay Basdogan
Future touch screen applications will include multiple tactile stimuli displayed simultaneously or consecutively to single finger or multiple fingers. These applications should be designed by considering human tactile masking mechanism since it is known that presenting one stimulus may interfere with the perception of the other. In this study, we investigate the effect of masking on tactile perception of electrovibration displayed on touch screens. Through conducting psychophysical experiments with nine subjects, we measured the masked thresholds of sinusoidal electrovibration bursts (125 Hz) under two masking conditions: simultaneous and pedestal...
July 11, 2018: IEEE Transactions on Haptics
Tomohiro Fukuda, Yoshihiro Tanaka, Astrid Maria Louise Kappers, Michitaka Fujiwara, Akihito Sano
We aim to achieve intraoperative localization of an early-stage gastric tumor that cannot be visually detected during laparoscopic surgery. In this study, we developed and evaluated a pneumatic tactile ring, which is a clinically applicable tactile device to provide instantaneous feedback from a tactile sensor directly manipulated by a surgeon. It was designed to be worn on the finger of the manipulating hand and to present pressure to the finger pad. It is lightweight, cost-effective, disposable, and sterilizable...
July 10, 2018: IEEE Transactions on Haptics
Jaeyoung Park, Yonghwan Oh, Hong Z Tan
We investigate the effect of adding cutaneous cues to kinesthetic feedback on the perception of a virtual object's hardness. A cutaneous haptic interface is designed to deliver hardness information to a user's fingertip along with a force-feedback interface, and the corresponding rendering strategy is implemented. Two sets of experiments are conducted to evaluate the proposed approach for hardness perception using one-finger touch and two-finger grasp. Experimental results indicate that the addition of cutaneous feedback can make the virtual surface feel significantly harder than the nominal stiffness delivered by force-feedback alone...
July 10, 2018: IEEE Transactions on Haptics
Mohamad Eid, Akiko Teranishi, Georgios Korres, Wanjoo Park
It has been shown in previous studies that haptic guidance improves the learning outcomes of handwriting motor skills. Full and partial haptic guidance are developed and evaluated in the literature. In this paper, we present two experimental studies to examine whether combining full and partial haptic guidance is more effective for improving handwriting skills than merely full or partial guidance methods. Experiment I, with 22 participants, compares the effectiveness of merely full and partial haptic guidance methods towards improving learning outcomes of Arabic handwriting...
June 29, 2018: IEEE Transactions on Haptics
Michael Panzirsch, Ribin Balachandran, Bernhard Weber, Manuel Ferre, Jordi Artigas
Future challenges in teleoperation arise from a new complexity of tasks and from constraints in unstructured environments. In industrial applications as nuclear research facilities, the operator has to manipulate large objects whereas medical robotics requires extremely high precision. In the last decades, research optimized the transparency in teleoperation setups through accurate hardware, higher sampling rates, and improved sensor technologies. To further enhance the performance in telemanipulation, the idea of haptic augmentation has been briefly introduced in [Panzirsch et al...
July 2018: IEEE Transactions on Haptics
Valerie S Morash, Alexander Russomanno, R Brent Gillespie, Sile O'Modhrain
Refreshable displays for tactile graphics are typically composed of pins that have smaller diameters and spacing than standard braille dots. We investigated configurations of high-density pins to form braille text on such displays using non-refreshable stimuli produced with a 3D printer. Normal dot braille (diameter 1.5 mm) was compared to high-density dot braille (diameter 0.75 mm) wherein each normal dot was rendered by high-density simulated pins alone or in a cluster of pins configured in a diamond, X, or square; and to "blobs" that could result from covering normal braille and high-density multi-pin configurations with a thin membrane...
July 2018: IEEE Transactions on Haptics
Jocelyn Monnoyrer, Emmanuelle Diaz, Christophe Bourdin, Michael Wiertlewski
The distinct tactile feedback provided by mechanical keyboards notifies users that their actions have been successfully recorded. The presence of these subtle yet informative tactile cues is one of the reasons why mechanical keyboards are still preferred to their virtual counterparts. An artificial sensation of pressing a mechanical switch can be produced by varying the coefficient of friction as the user is pressing down on a glass surface using ultrasonic vibration. We examined the factors involved in producing a vivid sensation of a stimulus by measuring the mechanical impedance, the frictional behavior of the fingertip and the perceptual thresholds...
June 5, 2018: IEEE Transactions on Haptics
Kosuke Higashi, Shogo Okamoto, Yoji Yamada
Humans perceive the hardness of objects from damped natural vibrations by tapping their surfaces. We investigated the roles of six parameters characterizing the vibration in the virtual and real environments. The effects of some parameters differed between the two environments. This finding warns the developers of haptic applications.
May 29, 2018: IEEE Transactions on Haptics
Hikaru Nagano, Shogo Okamoto, Yoji Yamada
Subjective responses related to touch are described via perceptual and affective adjectives. Understanding relationships among such responses is useful for industrial surface design. We developed a method for investigating relationships among touch related responses by constructing multilayered adjective models without assumptions regarding model structure such as adjective hierarchy or a defnition of layers. The method consists of two processes through which a model structure and parameters are estimated. To acquire the model structure, subjectively evaluated causal relationships among adjective pairs are used...
May 25, 2018: IEEE Transactions on Haptics
Shane Thomas Forbrigger, Ya-Jun Pan
The realism or transparency of haptic interfaces is becoming more critical as they are applied to training in fields like minimally invasive surgery (MIS). Surgical training simulators must provide a transparent virtual environment (VE) at a high update rate. Complex, deformable, cuttable tissue models have nonlinear dynamics and are computationally expensive, making it difficult to provide sufficient update rates. The objective of this work is to improve the transparency for this type of VE by formulating the unknown nonlinear dynamics as a quasi-linear parameter varying (LPV) system and designing a predictor to provide an output at a much higher update rate...
May 22, 2018: IEEE Transactions on Haptics
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