Application of psychophysical techniques to haptic research

Noise in Cognition: Bug or Feature?

Noise in behavior is often considered a nuisance: Although the mind aims for the best possible action, it is let down by unreliability in the sensory and response systems. Researchers often represent noise as additive, Gaussian, and independent. Yet a careful look at behavioral noise reveals a rich structure that defies easy explanation. First, in both perceptual and preferential judgments sensory and response noise may potentially play only minor roles, with most noise arising in the cognitive computations. Second, the functional form of the noise is both non-Gaussian and nonindependent, with the distribution of noise being better characterized as heavy-tailed and as having substantial long-range autocorrelations. It is possible that this structure results from brains that are, for some reason, bedeviled by a fundamental design flaw, albeit one with intriguingly distinctive characteristics. Alternatively, noise might not be a bug but a feature. Specifically, we propose that the brain approximates probabilistic inference with a local sampling algorithm, one using randomness to drive its exploration of alternative hypotheses. Reframing cognition in this way explains the rich structure of noise and leads to the surprising conclusion that noise is not a symptom of cognitive malfunction but plays a central role in underpinning human intelligence.

An advanced robotic system incorporating haptic feedback for precision cardiac ablation procedures

This study introduces an innovative master-slave cardiac ablation catheter robot system that employs magnetorheological fluids. The system incorporates magnetorheological fluid to enable collision detection through haptic feedback, thereby enhancing the operator's situational awareness. A modular clamping and propulsion mechanism has been engineered for the ablation catheter, facilitating omnidirectional operation and force feedback within the cardiac cavity. To evaluate the proposed system, an in vitro experiment was performed. Results from the experiment indicate that the system demonstrates high motion transmission accuracy. Furthermore, the system effectively alerts operators to potential collisions, enabling swift catheter position adjustments, minimizing the risk of vascular perforation, and ultimately enhancing the overall safety and efficiency of the procedure.

Establishing thresholds for swing transparency at the knee during gait to inform exoskeleton design

Knee exoskeletons have been developed to assist, stabilize, or improve human movement or recovery. However, exoskeleton designers must implement transparency (i.e., get out of the way) modes during the swing phase of locomotor tasks to avoid impeding movement. The problem is that it is not understood how sensitive people are to small knee torques or what level of knee impedance is acceptable (sufficiently transparent) during swing phase. Here, we (i) characterized the biomechanical consequences of knee stiffness and damping during swing, and (ii) leveraged user perceptions of being impeded and toe clearance to define transparency thresholds, below which the participants were sufficiently unimpeded during the swing phase of gait. We conducted a series of human subject experiments that involved walking and stair ascent/descent while wearing a modified knee brace with five stiffness values ranging from 0 to 4 Nm/rad and five damping values ranging from 0 to 0.77 Nm/rad/s. We measured changes to lower limb kinematics, knee flexor muscle activity, and participants' perception of being impeded during swing. Kinematics, muscle activity, and perceived impedance all changed in response to added stiffness and damping. For stiffness, we found the median transparency thresholds for walking and stairs to be 1.76 Nm/rad and 2.95 Nm/rad, respectively, which corresponds to peak knee moments during swing of around 2.3 and 5 Nm. For damping, we found the median transparency threshold for walking and stairs to be about the same, 0.29 Nm/rad/s, which corresponds to peak knee moments during swing of around 2.3 Nm. These values provide useful benchmarks for defining quantitative design requirements for knee exoskeletons intended for locomotor activities.

Tactile Weight Rendering: A Review for Researchers and Developers

Haptic rendering of weight plays an essential role in naturalistic object interaction in virtual environments. While kinesthetic devices have traditionally been used for this aim by applying forces on the limbs, tactile interfaces acting on the skin have recently offered potential solutions to enhance or substitute kinesthetic ones. Here, we aim to provide an in-depth overview and comparison of existing tactile weight rendering approaches. We categorized these approaches based on their type of stimulation into asymmetric vibration and skin stretch, further divided according to the working mechanism of the devices. Then, we compared these approaches using various criteria, including physical, mechanical, and perceptual characteristics of the reported devices. We found that asymmetric vibration devices have the smallest form factor, while skin stretch devices relying on the motion of flat surfaces, belts, or tactors present numerous mechanical and perceptual advantages for scenarios requiring more accurate weight rendering. Finally, we discussed the selection of the proposed categorization of devices together with the limitations and opportunities for future research. We hope this study guides the development and use of tactile interfaces to achieve a more naturalistic object interaction and manipulation in virtual environments.

Characterization, Experimental Validation and Pilot User Study of the Vibro-Inertial Bionic Enhancement System (VIBES)

This study presents the characterization and validation of the VIBES, a wearable vibrotactile device that provides high-frequency tactile information embedded in a prosthetic socket. A psychophysical characterization involving ten able-bodied participants is performed to compute the Just Noticeable Difference (JND) related to the discrimination of vibrotactile cues delivered on the skin in two forearm positions, with the goal of optimising vibrotactile actuator position to maximise perceptual response. Furthermore, system performance is validated and tested both with ten able-bodied participants and one prosthesis user considering three tasks. More specifically, in the Active Texture Identification, Slippage and Fragile Object Experiments, we investigate if the VIBES could enhance users' roughness discrimination and manual usability and dexterity. Finally, we test the effect of the vibrotactile system on prosthetic embodiment in a Rubber Hand Illusion (RHI) task. Results show the system's effectiveness in conveying contact and texture cues, making it a potential tool to restore sensory feedback and enhance the embodiment in prosthetic users.

Development of an Intuitive Interface With Haptic Enhancement for Robot-Assisted Endovascular Intervention

Robot-assisted endovascular intervention has the potential to reduce radiation exposure to surgeons and enhance outcomes of interventions. However, the success and safety of endovascular interventions depend on surgeons' ability to accurately manipulate endovascular tools such as guidewire and catheter and perceive their safety when cannulating patient's vessels. Currently, the existing interventional robots lack a haptic system for accurate force feedback that surgeons can rely on. In this paper, a haptic-enabled endovascular interventional robot was developed. We proposed a dynamic hysteresis compensation model to address the challenges of hysteresis and nonlinearity in magnetic powder brake-based haptic interface, which were used for providing high-precision and higher dynamic range haptic perception. Also, for the first time, a human perceptual-based haptic enhancement model and safety strategy were integrated with the custom-built haptic interface for enhancing sensation discrimination ability during robot-assisted endovascular interventions. This can effectively amplify even subtle changes in low-intensity operational forces such that surgeons can better discern any vessel-tools interaction force. Several experimental studies were performed to show that the haptic interface and the kinesthetic perception enhancement model can enhance the transparency of robot-assisted endovascular interventions, as well as promote the safety awareness of surgeon.

Simultaneous modulation of pulse charge and burst period elicits two differentiable referred sensations

Objective.To investigate the feasibility of delivering multidimensional feedback using a single channel of peripheral nerve stimulation by complementing intensity percepts with flutter frequency percepts controlled by burst period modulation.Approach.Two dimensions of a distally referred sensation were provided simultaneously: intensity was conveyed by the modulation of the pulse charge rate inside short discrete periods of stimulation referred to as bursts and frequency was conveyed by the modulation of the period between bursts. For this approach to be feasible, intensity percepts must be perceived independently of frequency percepts. Two experiments investigated these interactions. A series of two alternative forced choice tasks (2AFC) were used to investigate burst period modulation's role in intensity discernibility. Magnitude estimation tasks were used to determine any interactions in the gradation between the frequency and intensity percepts.Main results.The 2AFC revealed that burst periods can be individually differentiated as a gradable frequency percept in peripheral nerve stimulation. Participants could correctly rate a perceptual scale of intensity and frequency regardless of the value of the second, but the dependence of frequency differentiability on charge rate indicates that frequency was harder to detect with weaker intensity percepts. The same was not observed in intensity differentiability as the length of burst periods did not significantly alter intensity differentiation. These results suggest multidimensional encoding is a promising approach for increasing information throughput in sensory feedback systems if intensity ranges are selected properly.Significance.This study offers valuable insights into haptic feedback through the peripheral nervous system and demonstrates an encoding approach for neural stimulation that may offer enhanced information transfer in virtual reality applications and sensory-enabled prosthetic systems. This multidimensional encoding strategy for sensory feedback may open new avenues for enriched control capabilities.

Effects of Wall and Freespace Damping Levels on Virtual Wall Stiffness Classification

Virtual damping is often employed to improve stability in virtual environments, but it has previously been found to bias perception of stiffness, with its effects differing when it is introduced locally within a wall/object or globally in both the wall and in freespace. Since many potential applications of haptic rendering involve not only comparisons between two environments, but also the ability to recognize rendered environments as belonging to different categories, it is important to understand the perceptual impacts of freespace and wall damping on stiffness classification ability. This study explores the effects of varying levels of freespace and wall damping on users' ability to classify virtual walls by their stiffness. Results indicate that freespace damping improves wall classification if the walls are damped, but will impair classification of undamped walls. These findings suggest that, in situations where users are expected to recognize and classify various stiffnesses, freespace damping can be a factor in narrowing or widening gaps in extended rate-hardness between softer and stiffer walls.

Two Rapid Alternatives Compared to the Staircase Method for the Estimation of the Vibrotactile Perception Threshold

Wearable vibrotactile devices seem now mature for entering the daily lives and practices of more and more users. However, vibrotactile perception can greatly differ between individuals, in terms of psychophysics and physiology, not to mention higher levels (cognitive or affective for example). Broadly-distributed and affordable vibrotactile devices hence must be adapted to each user's own perception, first of all by delivering intensity levels that are in the perceptible range of the user. This implies determining the user's own thresholds of perception, and then adapting the devices' output levels. Classical methods for the estimation of thresholds elicit too long procedures, and little is known about the reliability of other methods in the vibrotactile domain. This article focuses on two alternative methods for the estimation of amplitude thresholds in the vibrotactile modality ("increasing-intensity" and "decreasing-intensity" methods), and compares their estimations to the estimations from a staircase method. Both rapid methods result in much shorter test durations, and are found less stressful and tiring than the classic method, while showing threshold estimations that are never found to differ by more than 1.5 JND from the estimations by the classic method.

Skin-Stretch Haptic Feedback Augmentation Improves Performance in a Simulated Laparoscopic Palpation Task

Laparoscopic surgery brings substantial benefits to patients. However, it remains challenging for surgeons because of motion constraints and perception limitations. Notably, the perception of interactions with organs is largely compromised. This paper evaluates the effectiveness of a forearm-based skin-stretch haptic feedback system rendering surgical tool tip force. Twenty novice participants had to discern the stiffness of samples to investigate stiffness perception in a simulated laparoscopic task. The experimental protocol involved manipulating samples with three difficulty levels and testing three feedback conditions: no augmentation, visual feedback, and tactile feedback. The results demonstrate that feedback significantly enhances the success rate of laparoscopic palpation tasks. The proposed tactile feedback boosts confidence and task speed and reduces peak force and perceived workload. These benefits become even more pronounced when difficulty increases. These promising findings affirm the value of skin-stretch haptic feedback augmentation in improving performance for simulated laparoscopy tasks, paving the way for more integrated and deployable devices for the operating room.

A Multi-Layer Stacked Microfluidic Tactile Display With High Spatial Resolution

Pneumatic tactile displays dynamically customize surface morphological features with reconfigurable arrays of independently addressable actuators. However, their ability to render detailed tactile patterns or fine textures is limited by the low spatial resolution. For pneumatic tactile displays, the high-density integration of pneumatic actuators within a small space (fingertip) poses a significant challenge in terms of pneumatic circuit wiring. In contrast to the structure with a single-layer layout of pipes, we propose a multi-layered stacked microfluidic pipe structure that allows for a higher density of actuators and retains their independent actuation capabilities. Based on the proposed structure, we developed a soft microfluidic tactile display with a spatial resolution of 1.25 mm. The device consists of a 5 × 5 array of independently addressable microactuators, driven by pneumatic pressure, each of which enables independent actuation of the surface film and continuous control of the height. At a relative pressure of 1000 mbar, the actuator produced a perceptible out-of-plane deformation of 0.145 mm and a force of 17.7 mN. User studies showed that subjects can easily distinguish eight tactile patterns with 96% accuracy.

Pressure Stimuli and Spatiotemporal Illusions on the Forearm

To design complex wearable haptic interfaces using pressure, we have to explore how we can use pressure stimuli to theirfull potential. Haptic illusions, such as apparent motion and apparent location, can be a part of this. If these illusions can be evoked with pressure, haptic patterns can increase in complexity without increasing the number of actuators or combining different types of actuators. We did two psychophysical experiments with pressure stimuli on the forearm using a pneumatic sleeve with multiple, individually controlled McKibben actuators. In Experiment 1, we found that spatial integration of two simultaneously presented stimuli occurred for distances up to 61 mm. In Experiment 2, we found that apparent motion can be elicited with distinct pressure stimuli over a range of temporal parameters. These results clearly show spatio-temporal integration in the somatosensory system for pressure stimuli. We discuss these findings in relation to effects found for vibration and the mechanoreceptors in the glabrous skin.

Calibration and Modeling of the Semmes-Weinstein Monofilament for Diabetic Foot Management

Diabetic foot is a serious complication that poses significant risks for diabetic patients. The resulting reduction in protective sensitivity in the plantar region requires early detection to prevent ulceration and ultimately amputation. The primary method employed for evaluating this sensitivity loss is the 10 gf Semmes-Weinstein monofilament test, commonly used as a first-line procedure. However, the lack of calibration in existing devices often introduces decision errors due to unreliable feedback. In this article, the mechanical behavior of a monofilament was analytically modeled, seeking to promote awareness of the impact of different factors on clinical decisions. Furthermore, a new device for the automation of the metrological evaluation of the monofilament is described. Specific testing methodologies, used for the proposed equipment, are also described, creating a solid base for the establishment of future calibration guidelines. The obtained results showed that the tested monofilaments had a very high error compared to the 10 gf declared by the manufacturers. To improve the precision and reliability of assessing the sensitivity loss, the frequent metrological calibration of the monofilament is crucial. The integration of automated verification, simulation capabilities, and precise measurements shows great promise for diabetic patients, reducing the likelihood of adverse outcomes.

Design and Evaluation of a Wearable Fingertip Device for Three-Dimensional Skin-Slip Display

Skin-slip provides crucial cues about the interaction state and surface properties. Currently, most skin-slip devices focus on two-dimensional tactile slip display and have limitations when displaying surface properties like bumps and contours. In this article, a wearable fingertip device with a simple, effective, and low-cost design for three-dimensional skin-slip display is proposed. Continuous multi-directional skin-slip and normal indentation are combined to convey the sensation of three-dimensional geometric properties in virtual reality during active finger exploration. The device has a tactile belt, a five-bar mechanism, and four motors. Cooperating with the angle-mapping strategy, two micro DC motors are used to transmit continuous multi-directional skin-slip. Two servo motors are used to drive the five-bar mechanism to provide normal indentation. The characteristics of the device were obtained through the bench tests. Three experiments were designed and sequentially conducted to evaluate the performance of the device in three-dimensional surface exploration. The experimental results suggested that this device could effectively transmit continuous multi-directional skin-slip sensations, convey different bumps, and display surface contours.

Comparing the Perceived Intensity of Vibrotacitle Cues Scaled Based on Inherent Dynamic Range

Wearable devices increasingly incorporate vibrotactile feedback notifications to users, which are limited by the frequency-dependent response characteristics of the low-cost actuators that they employ. To increase the range and type of information that can be conveyed to users via vibration feedback, it is crucial to understand user perception of vibration cue intensity across the narrow range of frequencies that these actuators operate. In this paper, we quantify user perception of vibration cues conveyed via a linear resonant actuator embedded in a bracelet interface using two psychophysical experiments. We also experimentally determine the frequency response characteristics of the wearable device. We then compare user perceived intensity of vibration cues delivered by the bracelet when the cues undergo frequency-specific amplitude modulation based on user perception compared to modulation based on the experimental or manufacturer-reported characterization of the actuator dynamic response. For applications in which designers rely on user perception of cue amplitudes across frequencies to be equivalent, it is recommended that a perceptual calibration experiment be conducted to determine appropriate modulation factors. For applications in which only relative perceived amplitudes are important, basing amplitude modulation factors on manufacturer data or experimentally determined dynamic response characteristics of the wearable device should be sufficient.

Humans can sense large numbers of objects in a box by touch alone

Everyday experiences suggest that a container, such as a box of cereal, can convey pertinent information about the nature and quantity of its content. This study investigated how well people can judge large quantities of objects in a container through haptic perception. Stimuli consisted of plastic drinking straws cut to "small" (1.5 cm) or "big" (4.5 cm) pieces contained in plastic food containers. Participants performed both a magnitude estimation of the number of objects and a direct estimation of the proportion of the container perceived to be filled with objects. Overall, participants demonstrated considerable accuracy for both tasks and irrespective of the size of the content. Post-experiment interviews revealed three potential strategies. Participants either focused on the container's contents, the excess space in the container, or the perceived weight of the container (content).

Haptic sensation-based scanning probe microscopy: Exploring perceived forces for optimal intuition-driven control

We demonstrate a cryogenic scanning probe microscope (SPM) that has been modified to be controlled with a haptic device, such that the operator can 'feel' the surface of a sample under investigation. This system allows for direct tactile sensation of the atoms in and on top of a crystal, and allows the operator to perceive, by using different SPM modalities, sensations that are representative of the relevant atomic forces and tunneling processes controlling the SPM. In particular, we operate the microscope in modes of (1) conventional STM feedback, (2) energy-dependent electron density imaging, (3) q-plus AFM frequency shift based force sensing, and (4) atomic manipulation/sliding. We also use software to modify the haptic feedback sensation to mimic different interatomic forces, including covalent bonding, Coulomb repulsion, Van der Waals repulsion and a full Lennard-Jones potential. This manner of SPM control creates new opportunities for human-based intuition scanning, and also acts as a novel educational tool to aid in understanding materials at an atomic level.

Bi-Manual Sensory Discrimination: A Kinesthetic Study

The ability of humans to perceive and differentiate kinesthetic sensory information significantly influences our daily activities and motor control. This study examines the impact of asynchronous bi-manual discrimination tasks compared to uni-manual discrimination tasks on kinesthetic perception. Our study aims to reveal the relationship between kinesthetic perception of haptic signals by examining perceptual thresholds in three different scenarios using (i) the dominant hand, (ii) the non-dominant hand, and (iii) both hands simultaneously to differentiate between two successive signals. Subjects exposed to force signals in these three situations conveyed their perceptions of alterations in signal magnitude after each trial. Subsequently, we applied psychometric functions to the collected responses to determine perceptual thresholds. Our results indicate a substantial difference in threshold values between bi-manual and uni-manual scenarios, with the bi-manual scenario exhibiting higher thresholds, indicating inferior perceptual ability when both hands are simultaneously utilized in two separate discrimination tasks. Furthermore, our investigation reveals distinct perception thresholds between the dominant and non-dominant hands, owing to differences in the perceptual capability of the two hands. These findings provide substantial insight into how the nature of tasks may alter kinesthetic perception, offering implications for the development of haptic interfaces in practical applications.

Understanding the Effects of Tactile Grating Patterns on Perceived Roughness Over Ultrasonic Friction Modulation Surfaces

OBJECTIVE

Our study aims to investigate the effects of grating patterns of perceived roughness on surfaces with ultrasonic friction modulation, and also to examine user performance of identifying different numbers of grating patterns.

BACKGROUND

In designing grating-based tactile textures, the widths of low- and high-friction zones are a crucial factor for generating grating patterns that convey roughness sensation. However, few studies have explored the design space of efficient grating patterns that users can easily distinguish and identify via roughness perception.

METHOD

Two experiments were carried out. In the first experiment, we conducted a magnitude estimation of perceived roughness for both low- and high-friction zones, each with widths of 0.13, 0.25, 0.38, 0.5, 1.0, 1.5, 2.0, 3.5, and 5.5 mm. In the second experiment, we required participants to identify 5 pattern groups with 2-6 patterns respectively.

RESULTS

Perceived roughness fitted a linear trend for low- or high-friction zones with widths of 0.38 mm or lower. Perceived roughness followed an inverted U-shaped curve for low- or high-friction zones with widths greater than 0.5 mm but less than 2.0 mm. The peak points occurred at the widths of 0.38 mm for both low- and high-friction zones. The statistical analysis indicates that both low- and high-friction zones had similar effects on human perception of surface roughness. In addition, participants could memorize and identify up to four tactile patterns with identification accuracy rates higher than 90% and average reaction time less than 2.2 s.

CONCLUSIONS

The relation between perceived roughness and varying widths of grating patterns follows linear or inverted U-shape trends. Participants could efficiently identify 4 or fewer patterns with high accuracy (>90%) and short reaction time (<2.2 s).

APPLICATION

Our findings can contribute to tactile interface design such as tactile alphabets and target-approaching indicators.

A Hand-Held Device Presenting Haptic Directional Cues for the Visually Impaired

Haptic information is essential in everyday activities, especially for visually impaired people in terms of real-world navigation. Since human haptic sensory processing is nonlinear, asymmetric vibrations have been widely studied to create a pulling sensation for the delivery of directional haptic cues. However, the design of an input control signal that generates asymmetric vibrations has not yet been parameterised. In particular, it is unclear how to quantify the asymmetry of the output vibrations to create a better pulling sensation. To better understand the design of an input control signal that generates haptic directional cues, we evaluated the effect of the pulling sensations corresponding to the three adjustable parameters (i.e., delay time, ramp-down step length, and cut-off voltage) in a commonly applied step-ramp input signal. The results of a displacement measurement and a psychophysical experiment demonstrate that when the quantified asymmetry ratio is in a range of 0.3430-0.3508 with an optimised cut-off voltage for our hand-held device, the haptic directional cues are better perceived by participants. Additionally, the results also showed a superior performance in haptic delivery by shear forces than normal forces.

Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control

When interacting with an object, we use kinesthetic and tactile information to create our perception of the object's properties and to prevent its slippage using grip force control. We previously showed that applying artificial skin-stretch together with, and in the same direction as, kinesthetic force increases the perceived stiffness. Here, we investigated the effect of the direction of the artificial stretch on stiffness perception and grip force control. We presented participants with kinesthetic force together with negative or positive artificial stretch, in the opposite or the same direction of the natural stretch due to the kinesthetic force, respectively. Our results showed that artificial skin-stretch in both directions augmented the perceived stiffness; however, the augmentation caused by the negative stretch was consistently lower than that caused by the positive stretch. Additionally, we proposed a computational model that predicts the perceptual effects based on the preferred directions of the stimulated mechanoreceptors. When examining the grip force, we found that participants applied higher grip forces during the interactions with positive skin-stretch in comparison to the negative skin-stretch, which is consistent with the perceptual results. These results may be useful in tactile technologies for wearable haptic devices, teleoperation, and robot-assisted surgery.

Rendering Perceived Terrain Stiffness in VR Via Preload Variation Against Body-Weight

PreloadStep is a novel platform that creates the illusion of walking on different types of terrain in Virtual Reality without requiring users to wear any special instrumentation. PreloadStep works by compressing a set of springs between two plates, with the amount of compression determining the perceived stiffness of the virtual terrain. The platform can render perception of stiffness by applying preload forces up to 824 N in different portions of the terrain, capable of changing stiffness illusion even while a user is standing on it. The effectiveness of PreloadStep was tested in two perception studies (perception thresholds and haptic-visual congruence studies) and an example application, with the results indicating that it is a promising method for creating engaging virtual terrain experiences.

VIBES: Vibro-Inertial Bionic Enhancement System in a Prosthetic Socket

The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first contact) arising from the interaction of the prosthetic device with external items. This study describes a wearable vibrotactile system for high-frequency tactile information embedded in the prosthetic socket. The device consists of two compact planar vibrotactile actuators in direct contact with the user's skin to transmit tactile cues. These stimuli are directly related to the acceleration profiles recorded with two IMUS placed on the distal phalanx of a soft under-actuated robotic prosthesis (Soft-Hand Pro). We characterized the system from a psychophysical point of view with fifteen able-bodied participants by computing participants' Just Noticeable Difference (JND) related to the discrimination of vibrotactile cues delivered on the index finger, which are associated with the exploration of different sandpapers. Moreover, we performed a pilot experiment with one SoftHand Pro prosthesis user by designing a task, i.e. Active Texture Identification, to investigate if our feedback could enhance users' roughness discrimination. Results indicate that the device can effectively convey contact and texture cues, which users can readily detect and distinguish.

Human-Delivered Brushstroke Characterization using an Instrumented Brush Focused on Torque

Pleasant brush therapies may benefit those with autism, trauma, and anxiety. While studies monitor brushing velocity, hand-delivery of brush strokes introduces variability. Detailed measurements of human-delivered brushing physics may help understand such variability and subsequent impact on receivers' perceived pleasantness. Herein, we instrument a brush with multi-axis force and displacement sensors to measure their physics as 12 participants pleasantly stroke a receiver's forearm. Algorithmic procedures identify skin contact, and define four stages of arrival, stroke, departure, and airtime between strokes. Torque magnitude, rather than force, is evaluated as a metric to minimize inertial noise, as it registers brush bend and orientation. Overall, the results of the naturally delivered brushing experiments indicate force and velocity values in the range of 0.4 N and 3-10 cm/s, in alignment with prior work. However, we observe significant variance between brushers across velocity, force, torque, and brushstroke length. Upon further analysis, torque and force measures are correlated, yet torque provides distinct information from velocity. In evaluating the receiver's response to individual differences between brushers of the preliminary case study, higher pleasantness is tied to lower mean torque, and lower instantaneous variance over the stroke duration. Torque magnitude appears to complement velocity's influence on perceived pleasantness.

Modulation of Arm Swing Frequency and Gait Using Rhythmic Tactile Feedback

Due to the neural coupling between upper and lower limbs and the importance of interlimb coordination in human gait, focusing on appropriate arm swing should be a part of gait rehabilitation in individuals with walking impairments. Despite its vital importance, there is a lack of effective methods to exploit the potential of arm swing inclusion for gait rehabilitation. In this work, we present a lightweight and wireless haptic feedback system that provides highly synchronized vibrotactile cues to the arms to manipulate arm swing and investigate the effects of this manipulation on the subjects' gait in a study with 12 participants (20-44 years). We found the developed system effectively adjusted the subjects' arm swing and stride cycle times by significantly reducing and increasing those parameters by up to 20% and 35%, respectively, compared to their baseline values during normal walking with no feedback. Particularly, the reduction of arms' and legs' cycle times translated into a substantial increase of up to 19.3% (on average) in walking speed. The response of the subjects to the feedback was also quantified in both transient and steady-state walking. The analysis of settling times from the transient responses revealed a fast and similar adaptation of both arms' and legs' movements to the feedback for reducing cycle times (i.e., increasing speed). Conversely, larger settling times and time differences between arms' and legs' responses were observed during feedback for increasing cycle times (i.e., reducing speed). The results clearly demonstrate the potential of the developed system to induce different arm-swing patterns as well as the ability of the proposed method to modulate key gait parameters through leveraging the interlimb neural coupling, with implications for gait training.

Peripheral focused ultrasound stimulation and its applications: From therapeutics to human-computer interaction

Peripheral focused ultrasound stimulation (pFUS) has gained increasing attention in the past few decades, because it can be delivered to peripheral nerves, neural endings, or sub-organs. With different stimulation parameters, ultrasound stimulation could induce different modulation effects. Depending on the transmission medium, pFUS can be classified as body-coupled US stimulation, commonly used for therapeutics or neuromodulation, or as an air-coupled contactless US haptic system, which provides sensory inputs and allows distinct human-computer interaction paradigms. Despite growing interest in pFUS, the underlying working mechanisms remain only partially understood, and many applications are still in their infancy. This review focused on existing applications, working mechanisms, the latest progress, and future directions of pFUS. In terms of therapeutics, large-sample randomized clinical trials in humans are needed to translate these state of art techniques into treatments for specific diseases. The airborne US for human-computer interaction is still in its preliminary stage, but further efforts in task-oriented US applications might provide a promising interaction tool soon.

Continuous Transition Impairs Discrimination of Electrotactile Frequencies

Just-noticeable difference (JND), indicating the ability to accurately identify small differences in stimulation parameters, can be used to choose more sensitive stimulation methods as well as to calibrate tactile feedback in closed-loop human-machine interfacing. The JND is typically estimated using a forced-choice-discrimination task, in which two stimuli with different intensities are delivered separated by a brief pause. In the applications of tactile feedback, however, the stimulation parameters are typically modulated continuously. It is unclear if the discriminability of stimuli separated in time characterizes the ability to distinguish continuous changes in stimulation intensity. The present study compared the JND when pairs of frequency-modulated electrotactile stimuli were separated in time and presented continuously at two different baseline frequencies (20 and 60 Hz). The results showed that the JND was significantly smaller with time-separation between stimuli, but that the JND obtained with different types of transitions were in most cases linearly associated. In conclusion, the discriminability of time-separated stimuli is systematically better compared to that of the stimuli presented continuously. This can have an impact when calibrating the tactile feedback where the conventional method of the JND assessment might lead to an overly optimistic estimate of detectable changes.

Human Stiffness Perception and Learning in Interacting With Compliant Environments

Humans are capable of adjusting their posture stably when interacting with a compliant surface. Their whole-body motion can be modulated in order to respond to the environment and reach to a stable state. In perceiving an uncertain external force, humans repetitively push it and learn how to produce a stable state. Research in human motor control has led to the hypothesis that the central nervous system integrates an internal model with sensory feedback in order to generate accurate movements. However, how the brain understands external force through exploration movements, and how humans accurately estimate a force from their experience of the force, is yet to be fully understood. To address these questions, we tested human behaviour in different stiffness profiles even though the force at the goal was the same. We generated one linear and two non-linear stiffness profiles, which required the same force at the target but different forces half-way to the target; we then measured the differences in the learning performance at the target and the differences in perception at the half-way point. Human subjects learned the stiffness profile through repetitive movements in reaching the target, and then indicated their estimation of half of the target value (position and force separately). This experimental design enabled us to probe how perception of the force experienced in different profiles affects the participants' estimations. We observed that the early parts of the learning curves were different for the three stiffness profiles. Secondly, the position estimates were accurate independent of the stiffness profile. The estimation in position was most likely influenced by the external environment rather than the profile itself. Interestingly, although visual information about the target had a large influence, we observed significant differences in accuracy of force estimation according to the stiffness profile.

Midfrontal theta power encodes the value of haptic delay

The use of haptic technologies in modern life scenarios is becoming the new normal particularly in rehabilitation, medical training, and entertainment applications. An evident challenge in haptic telepresence systems is the delay in haptic information. How humans perceive delayed visual and audio information has been extensively studied, however, the same for haptically delayed environments remains largely unknown. Here, we develop a visuo-haptic experimental setting that simulates pick and place task and involves continuous haptic feedback stimulation with four possible haptic delay levels. The setting is built using a haptic device and a computer screen. We use electroencephalography (EEG) to study the neural correlates that could be used to identify the amount of the experienced haptic delay. EEG data were collected from 34 participants. Results revealed that midfrontal theta oscillation plays a pivotal role in quantifying the amount of haptic delay while parietal alpha showed a significant modulation that encodes the presence of haptic delay. Based on the available literature, these results suggest that the amount of haptic delay is proportional to the neural activation that is associated with conflict detection and resolution as well as for multi-sensory divided attention.

The Effect of Kinesthetic and Artificial Tactile Noise and Variability on Stiffness Perception

Robot-assisted minimally invasive surgeries (RAMIS) have many benefits. A disadvantage, however, is the lack of haptic feedback. Haptic feedback is comprised of kinesthetic and tactile information, and we use both to form stiffness perception. Applying both kinesthetic and tactile feedback can enable more precise feedback than kinesthetic feedback alone. However, during remote surgeries, haptic noises and variations can be present. Therefore, toward designing haptic feedback for RAMIS, it is important to understand the effect of haptic manipulations on stiffness perception. We assessed the effect of two manipulations using stiffness discrimination tasks in which participants received force feedback and artificial skin stretch. In Experiment 1, we added sinusoidal noise to the artificial tactile signal, and found that the noise did not affect participants' stiffness perception or uncertainty. In Experiment 2, we varied either the kinesthetic or the artificial tactile information between consecutive interactions with an object. We found that the both forms of variability did not affect stiffness perception, but kinesthetic variability increased participants' uncertainty. We show that haptic feedback, comprised of force feedback and artificial skin stretch, provides robust haptic information even in the presence of noise and variability, and hence can potentially be both beneficial and viable in RAMIS.

Surface haptic rendering of virtual shapes through change in surface temperature

Compared to relatively mature audio and video human-machine interfaces, providing accurate and immersive touch sensation remains a challenge owing to the substantial mechanical and neurophysical complexity of touch. Touch sensations during relative lateral motion between a skin-screen interface are largely dictated by interfacial friction, so controlling interfacial friction has the potential for realistic mimicry of surface texture, shape, and material composition. In this work, we show a large modulation of finger friction by locally changing surface temperature. Experiments showed that finger friction can be increased by ~50% with a surface temperature increase from 23° to 42°C, which was attributed to the temperature dependence of the viscoelasticity and the moisture level of human skin. Rendering virtual features, including zoning and bump(s), without thermal perception was further demonstrated with surface temperature modulation. This method of modulating finger friction has potential applications in gaming, virtual and augmented reality, and touchscreen human-machine interaction.

Augmenting Perceived Softness of Haptic Proxy Objects Through Transient Vibration and Visuo-Haptic Illusion in Virtual Reality

In this article, we investigate the effects of active transient vibration and visuo-haptic illusion to augment the perceived softness of haptic proxy objects. We introduce a system combining active transient vibration at the fingertip with visuo-haptic illusions. In our hand-held device, a voice coil actuator transmits active transient vibrations to the index fingertip, while a force sensor measures the force applied on passive proxy objects to create visuo-haptic illusions in virtual reality. We conducted three user studies to understand both the vibrotactile effect and its combined effect with visuo-haptic illusions. A preliminary study confirmed that active transient vibrations can intuitively alter the perceived softness of a proxy object. Our first study demonstrated that those same active transient vibrations can generate different perceptions of softness depending on the material of the proxy object used. In our second study, we evaluated the combination of active transient vibration and visuo-haptic illusion, and found that both significantly influence perceived softness, with with the visuo-haptic effect being dominant. Our third study further investigated the vibrotactile effect while controlling for the visuo-haptic illusion. The combination of these two methods allows users to effectively perceive various levels of softness when interacting with haptic proxy objects.

Snake Effect: A Novel Haptic Illusion

We present a novel, movement-based haptic illusion called the "snake effect." Unlike apparent motion or sensory saltation, the snake effect feels wavy and creepy as though the belly of a slithering snake is making and breaking contact with the skin. This illusion is achieved by modulating the amplitudes of vibrotactile pulses sent successively to an array of tactors. Pilot testing established the following signal parameters for creating the snake effect: a minimal pulse duration of 1.69 s, carrier frequency in the range of 200-300 Hz, amplitude modulation of the carrier with a sine, sine-squared or Gaussian waveform (shown to be more effective than a linear up-and-down ramp), and a peak amplitude of 30 dB above detection threshold. The main experiment examined the most effective signal onset asynchrony (SOA) ranges by estimating the upper and lower SOA thresholds using a one-up one-down adaptive procedure with interleaved ascending and descending series. The results indicate an optimal SOA range from 271.5 ms to 798 ms with a midpoint of 535 ms. The snake effect is a vivid illusion that can be used as a distinctive signal for encoding information and to enhance immersion and engagement in gaming and entertainment.

Effect of 2.5D haptic feedback on virtual object perception via a stylus

As touch screen technologies advanced, a digital stylus has become one of the essential accessories for a smart device. However, most of the digital styluses so far provide limited tactile feedback to a user. Therefore we focused on the limitation and noted the potential that a digital stylus may offer the sensation of realistic interaction with virtual environments on a touch screen using a 2.5D haptic system. Thus, we developed a haptic stylus with SMA (Shape Memory Alloy) and a 2.5D haptic rendering algorithm to provide lateral skin-stretch feedback to mimic the interaction force between fingertip and a stylus probing over a bumpy surface. We conducted two psychophysical experiments to evaluate the effect of 2.5D haptic feedback on the perception of virtual object geometry. Experiment 1 investigated the human perception of virtual bump size felt via the proposed lateral skin-stretch stylus and a vibrotactile stylus as reference. Experiment 2 tested the participants’ ability to count the number of virtual bumps rendered via the two types of haptic styluses. The results of Experiment 1 indicate that the participants felt the size of virtual bumps rendered with lateral skin-stretch stylus significantly sensitively than the vibrotactile stylus. Similarly, the participants counted the number of virtual bumps rendered with the lateral skin-stretch stylus significantly better than with the vibrotactile stylus. A common result of the two experiments is a significantly longer mean trial time for the skin-stretch stylus than the vibrotactile stylus.

Psychophysics Experiment to Check the Temperature Impacts Over Human Fingertips for the Application of Textural Applications in Haptics Technology

Psychophysical methods in haptic technology help in comparative study and eventually be a data set to achieve realism over skin sensation. Textural based haptic applications are widely developed using tactile displays over human fingertips. The tactile displays work on open-loop admittance feedback system and are controlled with flexible parameters by ignoring the impact of noise or disturbance variables. Human skin undergoes various noise factors like temperature, humidity, sweat, and influence of alternative senses. This paper presents the newly adopted method of psychophysics to study the influence of environmental conditions over perceiving textural surfaces. The paper adopts the detection mode of psychophysics which uses perception time as an output parameter for understanding perception memory of the human skin. We have recorded the period of the perception in three environmental conditions over human subjects under a single blindfold method to study the behaviour of human skin at fingertips. The perception time of stimulus is analysed with arithmetic average roughness value (Ra) to understand the tolerance factor required during tactile based textural applications. The proposed method is simple to structure and improves in creating the dataset required to consider the noise factor for an open-loop admission feedback system.

Estimation of Torso Vibrotactile Thresholds Using Eccentric Rotating Mass Motors

The characterization of vibrotactile perception is crucial to accurately configure haptic devices and create appropriate stimuli for improving user performance in human-machine interaction systems. This article presents a study aiming to determine the absolute and differential vibrotactile thresholds in different areas of the torso to develop reliable haptic patterns to be displayed using a haptic vest. In the 'absolute threshold' experiment, we measure the minimum detectable vibration using a forced-choice task. Furthermore, in the 'differential threshold' experiment, we measure the minimum frequency change needed for users to discriminate two successive vibrotactile stimuli using a vibration matching task. The first experiment does not show differences between absolute thresholds, opening up the possibility of setting a unique minimal vibration for creating haptic patterns. Similarly, the second experiment does not show differences between differential thresholds. Moreover, as these thresholds follow Weber's law, it is viable to estimate any upper or lower differential threshold for any reference stimulus using a K-value. These results are a first step for creating vibrotactile patterns over the torso with the employed eccentric rotating mass motors. Moreover, the whole study provides a method to obtain these psychophysical values since the usage of different motors can change these results.

Individual Performance in Compliance Discrimination is Constrained by Skin Mechanics but Improved under Active Control

Tactile acuity differs between individuals, likely a function of several interrelated factors. The extent of the impact of skin mechanics on individual differences is unclear. Herein, we investigate if differences in skin elasticity between individuals impact their ability to distinguish compliant spheres near limits of discriminability. After characterizing hyperelastic material properties of their skin in compression, the participants were asked to discriminate spheres varying in elasticity and curvature, which generate non-distinct cutaneous cues. Simultaneous biomechanical measurements were used to dissociate the relative contributions from skin mechanics and volitional movements in modulating individuals' tactile sensitivity. The results indicate that, in passive touch, individuals with softer skin exhibit larger gross contact areas and higher perceptual acuity. In contrast, in active touch, where exploratory movements are behaviorally controlled, individuals with harder skin evoke relatively larger gross contact areas, which improve and compensate for deficits in their acuity as observed in passive touch. Indeed, these participants exhibit active control of their fingertip movements that improves their acuity, amidst the inherent constraints of their less elastic finger pad skin.

Thin Films on the Skin, but not Frictional Agents, Attenuate the Percept of Pleasantness to Brushed Stimuli

Brushed stimuli are perceived as pleasant when stroked lightly on the skin surface of a touch receiver at certain velocities. While the relationship between brush velocity and pleasantness has been widely replicated, we do not understand how resultant skin movements - e.g., lateral stretch, stick-slip, normal indentation - drive us to form such judgments. In a series of psychophysical experiments, this work modulates skin movements by varying stimulus stiffness and employing various treatments. The stimuli include brushes of three levels of stiffness and an ungloved human finger. The skin's friction is modulated via non-hazardous chemicals and washing protocols, and the skin's thickness and lateral movement are modulated by thin sheets of adhesive film. The stimuli are hand-brushed at controlled forces and velocities. Human participants report perceived pleasantness per trial using ratio scaling. The results indicate that a brush's stiffness influenced pleasantness more than any skin treatment. Surprisingly, varying the skin's friction did not affect pleasantness. However, the application of a thin elastic film modulated pleasantness. Such barriers, though elastic and only 40 microns thick, inhibit the skin's tangential movement and disperse normal force. The finding that thin films modulate affective interactions has implications for wearable sensors and actuation devices.

A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.

Effects of Interfering Cue Separation Distance and Amplitude on the Haptic Detection of Skin Stretch

Multi-sensory haptic cues, which contain several types of tactile stimuli that are presented concurrently to the user, have been shown to be useful for conveying information-rich cues. One limitation of multi-sensory cues is that user perception of individual cue components can be hindered by more salient components of the composite cue. In this article, we investigate how amplitude and distance between cues affect the perception of multi-sensory haptic cues. Specifically, participants' absolute threshold perception of stretch cues was measured in the presence of interfering squeeze cues using a modular testbed. We evaluated ten conditions of varying interference amplitude and distance between cues. We found that interference cue amplitude and distance between cues both have a statistically significant effect on the absolute perception of stretch cues. As interference cue amplitude increases, and as distance between cues decreases, absolute perception of stretch cues worsens. These results inform design considerations for future wearable multi-sensory haptic devices, so that cue salience can be maximized and interference effects minimized.

An elasticity-curvature illusion decouples cutaneous and proprioceptive cues in active exploration of soft objects

Our sense of touch helps us encounter the richness of our natural world. Across a myriad of contexts and repetitions, we have learned to deploy certain exploratory movements in order to elicit perceptual cues that are salient and efficient. The task of identifying optimal exploration strategies and somatosensory cues that underlie our softness perception remains relevant and incomplete. Leveraging psychophysical evaluations combined with computational finite element modeling of skin contact mechanics, we investigate an illusion phenomenon in exploring softness; where small-compliant and large-stiff spheres are indiscriminable. By modulating contact interactions at the finger pad, we find this elasticity-curvature illusion is observable in passive touch, when the finger is constrained to be stationary and only cutaneous responses from mechanosensitive afferents are perceptible. However, these spheres become readily discriminable when explored volitionally with musculoskeletal proprioception available. We subsequently exploit this phenomenon to dissociate relative contributions from cutaneous and proprioceptive signals in encoding our percept of material softness. Our findings shed light on how we volitionally explore soft objects, i.e., by controlling surface contact force to optimally elicit and integrate proprioceptive inputs amidst indiscriminable cutaneous contact cues. Moreover, in passive touch, e.g., for touch-enabled displays grounded to the finger, we find those spheres are discriminable when rates of change in cutaneous contact are varied between the stimuli, to supplant proprioceptive feedback.

Synthesizing the Roughness of Textured Surfaces for an Encountered-Type Haptic Display Using Spatiotemporal Encoding

Encountered-type haptic rendering provides realistic, free-to-touch, and move-and-collide haptic sensation to a user. However, inducing haptic-texture sensation without complicated tactile actuators is challenging for encountered-type haptic rendering. In this article, we propose a novel texture synthesizing method for an encountered-type haptic display using spatial and temporal encoding of roughness, which provides both active and passive touch sensation requiring no complicated tactile actuation. Focused on macro-scale roughness perception, we geometrically model the textured surface with a grid of hemiellipsoidal bumps, which can provide a variety of perceived roughness as the user explores the surface with one's bare hand. Our texture synthesis method is based on two important hypotheses. First, we assume that perceptual roughness can be spatially encoded along the radial direction of a textured surface with hemiellipsoidal bumps. Second, perceptual roughness temporally varies with the relative velocity of a scanning human hand with respect to the surface. To validate these hypotheses on our spatiotemporal encoding method, we implemented an encountered-type haptic texture rendering system using an off-the-shelf collaborative robot that can also track the user's hand using IR sensors. We performed psychophysical user tests with 25 participants and verified the main effects of spatiotemporal encoding of a textured model on the user's roughness perception. Our empirical experiments imply that the users perceive a more rough texture as the surface orientation or the relative hand motion increases. Based on these findings, we show that our visuo-haptic system can synthesize an appropriate level of roughness corresponding to diverse visual textures by suitably choosing encoding values.

Mapping the Sensory-Perceptual Space of Vibration for User-Centered Intuitive Tactile Design

In vibrotactile design, it can be beneficial to communicate with potential users about the desired properties of a product. However, such users' expectations would need to be translated into physical vibration parameters. In everyday life, humans are frequently exposed to seat vibration. Humans have learned to intuitively associate specific labels (e.g., "tingling") with specific vibrations. Thus, the aim of this article is to identify the most common sensory-perceptual attributes and their relationships to vibration parameters. First, we generalized everyday-life seat vibration into sinusoidal, amplitude-modulated sinusoidal, white Gaussian noise and impulse-like vibrations. Subsequently, the (peak) level, (center/carrier) frequency, bandwidth, modulation frequency and exponential decay rate parameters of these vibrations were systematically varied depending on the signal type. A free association task was conducted to reveal the most common sensory-perceptual attributes for each vibration. After aggregating similar attributes, the 21 most frequently occurring attributes were utilized in a second experiment to rate their suitability for describing each vibration stimulus. Principal component analysis guided the selection of six attribute groups, which can be represented by "up and down," "tingling," "weak," "repetitive," "uniform" and "fading." The observed relationships between vibration parameters and attribute ratings are suitable for future model building.

Vibration Alert to the Brain: Evoked and Induced MEG Responses to High-Frequency Vibrotactile Stimuli on the Index Finger of Dominant and Non-dominant Hand

Background: In recent years, vibrotactile haptic feedback technology has been widely used for user interfaces in the mobile devices. Although functional neuroimaging studies have investigated human brain responses to different types of tactile inputs, the neural mechanisms underlying high-frequency vibrotactile perception are still relatively unknown. Our aim was to investigate neuromagnetic brain responses to high-frequency vibrotactile stimulation, using magnetoencephalography (MEG).

Methods: We measured 152-channel whole-head MEG in 30 healthy, right-handed volunteers (aged 20–28 years, 15 females). A total of 300 vibrotactile stimuli were presented at the tip of either the left index finger or the right index finger in two separate sessions. Sinusoidal vibrations at 150 Hz for 200 ms were generated with random inter-stimulus intervals between 1.6 and 2.4 s. Both time-locked analysis and time-frequency analysis were performed to identify peak responses and oscillatory modulations elicited by high-frequency vibrations. The significance of the evoked and induced responses for dominant and non-dominant hand stimulation conditions was statistically tested, respectively. The difference in responses between stimulation conditions was also statistically evaluated.

Results: Prominent peak responses were observed at 56 ms (M50) and at 100 ms (M100) for both stimulation conditions. The M50 response revealed clear dipolar field patterns in the contralateral side with significant cortical activations in the contralateral primary sensorimotor area, whereas the M100 response was not as prominent as the M50. Vibrotactile stimulation induced significant suppression of both alpha (8–12 Hz) and beta (20–30 Hz) band activity during the mid-latency period (0.2–0.4 s), primarily in sensorimotor areas contralateral to the stimulation side. In addition, a significant alpha enhancement effect in posterior regions was accompanied with alpha suppressions in sensorimotor regions. The alpha suppression was observed in a broader distribution of cortical areas for the non-dominant hand stimulation.

Conclusion: Our data demonstrate that high-frequency tactile vibrations, which is known to primarily activate Pacinian corpuscles, elicit somatosensory M50 and M100 responses in the evoked fields and induce modulations of alpha and beta band oscillations during mid-latency periods. Our study is also consistent with that the primary sensorimotor area is significantly involved in the processing of high-frequency vibrotactile information with contralateral dominance.

Characterizing Limits of Vision-Based Force Feedback in Simulated Surgical Tool-Tissue Interaction

Haptic feedback can render real-time force interactions with computer simulated objects. In several telerobotic applications, it is desired that a haptic simulation reflects a physical task space or interaction accurately. This is particularly true when excessive applied force can result in disastrous consequences, as with the case of robot-assisted minimally invasive surgery (RMIS) and tissue damage. Since force cannot be directly measured in RMIS, non-contact methods are desired. A promising direction of non-contact force estimation involves the primary use of vision sensors to estimate deformation. However, the required fidelity of non-contact force rendering of deformable interaction to maintain surgical operator performance is not well established. This work attempts to empirically evaluate the degree to which haptic feedback may deviate from ground truth yet result in acceptable teleoperated performance in a simulated RMIS-based palpation task. A preliminary user-study is conducted to verify the utility of the simulation platform, and the results of this work have implications in haptic feedback for RMIS and inform guidelines for vision-based tool-tissue force estimation. An adaptive thresholding method is used to collect the minimum and maximum tolerable errors in force orientation and magnitude of presented haptic feedback to maintain sufficient performance.

Acquisition of 500 English Words through a TActile Phonemic Sleeve (TAPS)

Recently, a phonemic-based tactile speech communication system was developed with the goal to transmit speech through the skin for people with hearing impairments and those whose auditory and visual channels are overloaded or compromised. The display, called the TActile Phonemic Sleeve (TAPS), consisted of a 4-by-6 tactor array worn on the dorsal and volar surfaces of the forearm. Earlier work showed that people were able to learn the haptic symbols for 39 English phonemes and reach a mean phoneme recognition rate of 86% correct within one to four hours of training. The current research evaluated the acquisition of up to 500 words using TAPS. A total of 51 participants were trained and tested in three studies with increasing number of phonemes and vocabulary sizes. Individual achievements varied, but the results clearly demonstrate the potential of transmitting any English word using TAPS within a reasonable period of learning. Future work will include increasing the speech transmission rate with TAPS by improving the phonemic codes and reducing the inter-phoneme intervals, addressing the reception of words and sentences composed of strings of tactile phonemes, and assessing the performance of TAPS as a speech communication system for people with severe hearing impairments.

Edge Vibration Improves Ability to Discriminate Roughness Difference of Adjoining Areas

Researchers have studied the discrimination thresholds between different vibrotactile signals under various conditions. Humans cannot recognize slight differences in vibrotactile stimuli that are smaller than the perception threshold. This is a constraint in the vibrotactile design used in practical applications. This article focuses on the vibrational feedback at the "edge" between multiple areas, while previous studies have not considered this. We assume that the edge vibration not only emphasizes the presence of the edge itself, but also has an effect on the vibrotactile perception of the adjoining areas. Specifically, we hypothesize that the edge vibration would modify the user's ability to discriminate vibrotactile differences between adjoining areas. We conducted a user study to test this hypothesis. As a result, we found that presenting edge vibrations at the boundaries between adjacent textures makes it easier to discriminate the frequency and amplitude differences of the vibrations of those uneven textures. This article could increase the flexibility of vibrotactile design, and vibrotactile designers could use these results to design a wider variety of vibrations for adjacent areas.

Incidental Categorization of Vibrotactile Stimuli

Past research has demonstrated incidental learning of task-irrelevant visual and auditory stimuli. Motivated by the possibility of similar evidence in the tactile domain and potential applications in tactile speech communication systems, we investigated incidental categorization of vibrotactile stimuli through a visuomotor task of shape identification. Two experiments were conducted where participants were exposed to position-based or movement-based vibrotactile stimuli prior to performing a speeded response to one of two targets. The two experiments differed only in the particular sets of such stimuli employed. Unbeknownst to the participants, the vibrotactile stimuli and visual targets were initially correlated perfectly to facilitate the incidental learning of their associations, briefly uncorrelated to check the cost in reaction time, and correlated again to re-establish the initial association. Finally, participants were asked to predict visual targets from novel position-based and movement-based stimuli. The results from both experiments provided evidence of incidental categorization of vibrotactile stimuli. The percent-correct scores and sensitivity indices for the overt categorization of novel stimuli from both experiments were well above chance, indicating generalization of learning. And while both experiments showed an increase in reaction time when the association between vibrotactile stimuli and visual targets was disrupted, this reaction time cost was significant only for the stimuli used in the second experiment. Our finding of incidental categorization in the tactile domain has important implications for the effective acquisition of speech in tactile speech communication systems.

Visuo-Haptic Discrimination of Viscoelastic Materials

In our daily lives, we interact with different types of deformable materials. Regarding their mechanical behavior, some of those materials lie in a range that is between purely elastic and purely viscous. This range of mechanical behavior is described as viscoelasticity. In certain types of haptic interactions, such as assessment of ripeness of fruit, firmness of cheese, and consistency of organ tissue, we rely heavily on our haptic perception of viscoelastic materials. The relationship between the mechanical behavior of viscoelastic materials and our perception of them has been investigated in the field of psychorheology. However, our knowledge on how we perceive viscoelastic materials is still quite limited though some research work has already been done on purely elastic and purely viscous materials. History- and frequency-dependent behavior of viscoelastic materials result in a complex time-dependent response, which requires relatively more sophisticated models to investigate their behavior than those of purely elastic and viscous materials. In this study, we model viscoelasticity using a "springpot" (i.e., fractional-order derivative element) and express its behavior in the frequency domain using two physical parameters-"magnitude" and "phase" of complex stiffness. In the frequency domain, we are able to devise signal detection experiments where we can investigate the perception of viscoelastic materials using the perceptual terms of "firmness" and "bounciness," corresponding to the physical parameters of "magnitude" and "phase." The results of our experiments show that the just-noticeable difference (JND) for bounciness increases linearly with increasing "phase," following Weber's law, while the JND for firmness is surprisingly independent of the level of "phase."

Thermal Perception and Thermal Devices Used on Body Parts Other Than Hand or Face

Most fundamental research on thermal perception focuses on the fingers or the hand. Also most existing and proposed thermal devices are meant to be applied to hand or fingers. However, if the hands are needed for other tasks, application of thermal stimulation to other body regions should be considered. This paper surveys the literature on thermal perception and thermal devices relevant to such other body regions. It starts with a short description of the experimental methods used in the various studies, such as the methods of limits, the two-alternative forced choice method, and magnitude estimation. This is followed by thermal psychophysical studies on detection, adaptation, spatial summation, and resolution. Next some striking thermal illusions are presented, such as a thermal grill and a seemingly continuously warming or cooling stimulus. Finally, the few studies on thermal communication and applications are summarized. These latter studies mainly focus on communicating emotions or playing computer games. The overall conclusion of this survey is that thermal devices should not focus on conveying complex messages, but especially in the areas of gaming or communication there seem to be interesting possibilities for further developments.