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IEEE Transactions on Haptics

Jakob Frohner, Gionata Salvietti, Philipp Beckerle, Domenico Prattichizzo
Increasing presence is one of the primary goals of virtual reality research. A crucial aspect is that users are capable of distinguishing their self from the external virtual world. The hypothesis we investigate is that wearable haptics play an important role in the body experience and could thereby contribute to the immersion of the user in the virtual environment. A within-subject study (n=32) comparing the embodiment of a virtual hand with different implementations of haptic feedback (force feedback, vibrotactile feedback, and no haptic feedback) is presented...
December 24, 2018: IEEE Transactions on Haptics
Emma Treadway, R Brent Gillespie
The study of haptic perception often makes use of haptic rendering to display the variety of impedances needed to run an experiment. Unacknowledged in many cases is the influence of the selected device hardware on what the user will feel, particularly in interactions featuring frequencies above the control bandwidth. While human motion is generally limited to 10Hz, virtual environments with unilateral constraints are subject to excitation of a wider frequency spectrum through contact transitions. We employ the effective impedance decomposition to discuss the effects of parasitics outside the rendering bandwidth...
December 21, 2018: IEEE Transactions on Haptics
Manuel Aiple, Jan Smisek, Andre Schiele
Series elastic actuators (SEAs) are interesting for usage in harsh environments as they are more robust than rigid actuators. This paper shows how SEAs can be used in teleoperation to increase output velocity in dynamic tasks. A first experiment is presented that tested human ability to achieve higher hammerhead velocities with a flexible hammer than with a rigid hammer, and to evaluate the influence of the resonance frequency. In this experiment, 13 participants executed a hammering task in direct manipulation using flexible hammers in four conditions with resonance frequencies of 3...
November 20, 2018: IEEE Transactions on Haptics
Dangxiao Wang, Meng Song, Afzal Naqash, Yukai Zheng, Weiliang Xu, Yuru Zhang
Force feedback gloves have found many applications in fields such as teleoperation and virtual reality. In order to enhance the immersive feeling of interaction with remote or virtual environments, glove-like haptic devices are used, which enable users to touch and manipulate virtual objects in a more intuitive and direct way via the dexterous manipulation and sensitive perception capabilities of human hands. In this survey, we aim to identify the gaps between existing force feedback gloves and the desired ones that can provide robust and realistic sensation of the interaction with diverse virtual environments...
November 19, 2018: IEEE Transactions on Haptics
Anirban Chowdhury, Shyam Sunder Nishad, Yogesh Kumar Meena, Ashish Dutta, Girijesh Prasad
This paper presents an underactuated design of a robotic hand exoskeleton and a challenge based neurorehabilitation strategy. The exoskeleton is designed to reproduce natural human fingertip paths during extension and grasping, keeping minimal kinematic complexity. It facilitates an impedance adaptation based trigged assistance control strategy by a switching between active non-assist and passive assistance modes. In active non-assist mode, the exoskeleton motion follows the applied fingertip forces based on an impedance model...
October 26, 2018: IEEE Transactions on Haptics
Zhan Fan Quek, William Provancher, Allison Okamura
During interaction with objects using a tool, we experience force and tactile feedback. One form of tactile feedback is local fingerpad skin deformation. In this paper, we provide haptic feedback to users of a teleoperation system through a skin deformation tactile feedback device. The device is able to provide tangential and normal skin deformation in a coupled manner, and is designed so that users can grasp it with a precision grip using multiple fingerpads. By applying skin deformation feedback on multiple fingerpads, the device is able to provide multi-degree-of-freedom interaction force direction and magnitude information to the user...
October 1, 2018: IEEE Transactions on Haptics
Jeroen Van Oosterhout, Cock Heemskerk, Henri Boessenkool, Marco R De Baar, Frans C T Van Der Helm, David A Abbink
Tele-manipulation of heavy loads typically requires the simultaneous use of two asymmetric slaves: a crane for vertical weight support; and a robot for accurate lateral positioning. The industrial standard prescribes a pair of operators for such tasks (one operator to control each slave), although in principle one operator might control both slaves with a single, hybrid interface. Accurate and safe co-operative handling of the expensive and fragile heavy components is difficult, presumably due to problems in the coordination of the subtasks and the lack of mutual awareness between the two operators...
October 1, 2018: 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
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