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Guo X, McFall F, Jiang P, Liu J, Lepora N, Zhang D. A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery. SENSORS (BASEL, SWITZERLAND) 2024; 24:2676. [PMID: 38732782 PMCID: PMC11085189 DOI: 10.3390/s24092676] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/31/2023] [Revised: 04/06/2024] [Accepted: 04/17/2024] [Indexed: 05/13/2024]
Abstract
In robot-assisted microsurgery (RAMS), surgeons often face the challenge of operating with minimal feedback, particularly lacking in haptic feedback. However, most traditional desktop haptic devices have restricted operational areas and limited dexterity. This report describes a novel, lightweight, and low-budget wearable haptic controller for teleoperated microsurgical robotic systems. We designed a wearable haptic interface entirely made using off-the-shelf material-PolyJet Photopolymer, fabricated using liquid and solid hybrid 3D co-printing technology. This interface was designed to resemble human soft tissues and can be wrapped around the fingertips, offering direct contact feedback to the operator. We also demonstrated that the device can be easily integrated with our motion tracking system for remote microsurgery. Two motion tracking methods, marker-based and marker-less, were compared in trajectory-tracking experiments at different depths to find the most effective motion tracking method for our RAMS system. The results indicate that within the 4 to 8 cm tracking range, the marker-based method achieved exceptional detection rates. Furthermore, the performance of three fusion algorithms was compared to establish the unscented Kalman filter as the most accurate and reliable. The effectiveness of the wearable haptic controller was evaluated through user studies focusing on the usefulness of haptic feedback. The results revealed that haptic feedback significantly enhances depth perception for operators during teleoperated RAMS.
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Affiliation(s)
- Xiaoqing Guo
- Department of Engineering Mathematics, University of Bristol, Bristol BS8 1QU, UK
| | - Finn McFall
- Department of Engineering Mathematics, University of Bristol, Bristol BS8 1QU, UK
| | - Peiyang Jiang
- Department of Engineering Mathematics, University of Bristol, Bristol BS8 1QU, UK
| | - Jindong Liu
- Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK
| | - Nathan Lepora
- Department of Engineering Mathematics, University of Bristol, Bristol BS8 1QU, UK
| | - Dandan Zhang
- Department of Bioengineering, Imperial College London, London SW7 2AZ, UK
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2
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Mete M, Jeong H, Wang WD, Paik J. SORI: A softness-rendering interface to unravel the nature of softness perception. Proc Natl Acad Sci U S A 2024; 121:e2314901121. [PMID: 38466880 PMCID: PMC10990105 DOI: 10.1073/pnas.2314901121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/29/2023] [Accepted: 02/02/2024] [Indexed: 03/13/2024] Open
Abstract
Tactile perception of softness serves a critical role in the survival, well-being, and social interaction among various species, including humans. This perception informs activities from food selection in animals to medical palpation for disease detection in humans. Despite its fundamental importance, a comprehensive understanding of how softness is neurologically and cognitively processed remains elusive. Previous research has demonstrated that the somatosensory system leverages both cutaneous and kinesthetic cues for the sensation of softness. Factors such as contact area, depth, and force play a particularly critical role in sensations experienced at the fingertips. Yet, existing haptic technologies designed to explore this phenomenon are limited, as they often couple force and contact area, failing to provide a real-world experience of softness perception. Our research introduces the softness-rendering interface (SORI), a haptic softness display designed to bridge this knowledge gap. Unlike its predecessors, SORI has the unique ability to decouple contact area and force, thereby allowing for a quantitative representation of softness sensations at the fingertips. Furthermore, SORI incorporates individual physical fingertip properties and model-based softness cue estimation and mapping to provide a highly personalized experience. Utilizing this method, SORI quantitatively replicates the sensation of softness on stationary, dynamic, homogeneous, and heterogeneous surfaces. We demonstrate that SORI accurately renders the surfaces of both virtual and daily objects, thereby presenting opportunities across a range of fields, from teleoperation to medical technology. Finally, our proposed method and SORI will expedite psychological and neuroscience research to unlock the nature of softness perception.
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Affiliation(s)
- Mustafa Mete
- Reconfigurable Robotics Laboratory, Institute of Mechanical Engineering, School of Engineering, École Polytechnique Fédérale de Lausanne, LausanneCH 1005, Switzerland
| | - Haewon Jeong
- Soft Robotics Laboratory, Department of Mechanical Engineering, College of Engineering, Hanyang University, Seoul04763, Republic of Korea
| | - Wei Dawid Wang
- Soft Robotics Laboratory, Department of Mechanical Engineering, College of Engineering, Hanyang University, Seoul04763, Republic of Korea
| | - Jamie Paik
- Reconfigurable Robotics Laboratory, Institute of Mechanical Engineering, School of Engineering, École Polytechnique Fédérale de Lausanne, LausanneCH 1005, Switzerland
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3
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Shi Y, Shen G. Haptic Sensing and Feedback Techniques toward Virtual Reality. RESEARCH (WASHINGTON, D.C.) 2024; 7:0333. [PMID: 38533183 PMCID: PMC10964227 DOI: 10.34133/research.0333] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/02/2023] [Accepted: 02/10/2024] [Indexed: 03/28/2024]
Abstract
Haptic interactions between human and machines are essential for information acquisition and object manipulation. In virtual reality (VR) system, the haptic sensing device can gather information to construct virtual elements, while the haptic feedback part can transfer feedbacks to human with virtual tactile sensation. Therefore, exploring high-performance haptic sensing and feedback interface imparts closed-loop haptic interaction to VR system. This review summarizes state-of-the-art VR-related haptic sensing and feedback techniques based on the hardware parts. For the haptic sensor, we focus on mechanism scope (piezoresistive, capacitive, piezoelectric, and triboelectric) and introduce force sensor, gesture translation, and touch identification in the functional view. In terms of the haptic feedbacks, methodologies including mechanical, electrical, and elastic actuators are surveyed. In addition, the interactive application of virtual control, immersive entertainment, and medical rehabilitation is also summarized. The challenges of virtual haptic interactions are given including the accuracy, durability, and technical conflicts of the sensing devices, bottlenecks of various feedbacks, as well as the closed-loop interaction system. Besides, the prospects are outlined in artificial intelligence of things, wise information technology of medicine, and multimedia VR areas.
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Affiliation(s)
- Yuxiang Shi
- School of Integrated Circuits and Electronics,
Beijing Institute of Technology, Beijing 100081, China
- Institute of Flexible Electronics,
Beijing Institute of Technology, Beijing 102488, China
| | - Guozhen Shen
- School of Integrated Circuits and Electronics,
Beijing Institute of Technology, Beijing 100081, China
- Institute of Flexible Electronics,
Beijing Institute of Technology, Beijing 102488, China
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4
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Park J, Lee Y, Cho S, Choe A, Yeom J, Ro YG, Kim J, Kang DH, Lee S, Ko H. Soft Sensors and Actuators for Wearable Human-Machine Interfaces. Chem Rev 2024; 124:1464-1534. [PMID: 38314694 DOI: 10.1021/acs.chemrev.3c00356] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/07/2024]
Abstract
Haptic human-machine interfaces (HHMIs) combine tactile sensation and haptic feedback to allow humans to interact closely with machines and robots, providing immersive experiences and convenient lifestyles. Significant progress has been made in developing wearable sensors that accurately detect physical and electrophysiological stimuli with improved softness, functionality, reliability, and selectivity. In addition, soft actuating systems have been developed to provide high-quality haptic feedback by precisely controlling force, displacement, frequency, and spatial resolution. In this Review, we discuss the latest technological advances of soft sensors and actuators for the demonstration of wearable HHMIs. We particularly focus on highlighting material and structural approaches that enable desired sensing and feedback properties necessary for effective wearable HHMIs. Furthermore, promising practical applications of current HHMI technology in various areas such as the metaverse, robotics, and user-interactive devices are discussed in detail. Finally, this Review further concludes by discussing the outlook for next-generation HHMI technology.
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Affiliation(s)
- Jonghwa Park
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Youngoh Lee
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Seungse Cho
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Ayoung Choe
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Jeonghee Yeom
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Yun Goo Ro
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Jinyoung Kim
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Dong-Hee Kang
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Seungjae Lee
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Hyunhyub Ko
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
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5
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Firouzeh A, Mizutani A, Groten J, Zirkl M, Shea H. PopTouch: A Submillimeter Thick Dynamically Reconfigured Haptic Interface with Pressable Buttons. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2307636. [PMID: 37883071 DOI: 10.1002/adma.202307636] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/31/2023] [Revised: 10/19/2023] [Indexed: 10/27/2023]
Abstract
The interactions with touchscreens rely heavily on vision: The virtual buttons and virtual sliders on a touchscreen provide no mechanical sense of the object they seek to represent. This work presents PopTouch: a 500 µm thick flexible haptic display that creates pressable physical buttons on demand. PopTouch can be mounted directly on touchscreens or any other smooth surface, flat, or curved. The buttons of PopTouch are independently controlled hydraulically amplified electrostatic zipping taxels (tactile pixels) that generate 1.5 mm of out of plane displacement. When pressed by the user, the buttons provide intuitive mechanical feedback thanks to a snap-through characteristic in their force-displacement profile. The snap-through threshold can be as high as 4 N, and is tuned by design and actuation parameters. This work presents two versions of PopTouch: a transparent PopTouch for integration on Touchscreens with built-in touch sensing, such as smartphones and a sensorized PopTouch, with embedded thin-film piezoelectric sensors on each taxel, for integration on substrates without built-in touch sensing, such as a steering wheel. PopTouch adds static and vibrating button-like haptics to any device thanks to its thin profile, flexibility, low power consumption (6 mW per button), rapid refresh rate (2 Hz), and freely configured array format.
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Affiliation(s)
- Amir Firouzeh
- Soft Transducers Laboratory (LMTS), Institute of Mechanical Engineering (IGM), Ecole Polytechnique Fédérale de Lausanne (EPFL), Neuchatel, CH-2000, Switzerland
| | - Ayana Mizutani
- Soft Transducers Laboratory (LMTS), Institute of Mechanical Engineering (IGM), Ecole Polytechnique Fédérale de Lausanne (EPFL), Neuchatel, CH-2000, Switzerland
| | - Jonas Groten
- Joanneum Research Forschungsgesellschaft mbH, Franz-Pichler-Straße 30, Weiz, A-8160, Austria
| | - Martin Zirkl
- Joanneum Research Forschungsgesellschaft mbH, Franz-Pichler-Straße 30, Weiz, A-8160, Austria
| | - Herbert Shea
- Soft Transducers Laboratory (LMTS), Institute of Mechanical Engineering (IGM), Ecole Polytechnique Fédérale de Lausanne (EPFL), Neuchatel, CH-2000, Switzerland
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Alonzo EA, Lato TJ, Gonzalez M, Olson TL, Savage QR, Garza LN, Green MT, Koone JC, Cook NE, Dashnaw CM, Armstrong DB, Wood JL, Garbrecht LS, Haynes ML, Jacobson MR, Guberman-Pfeffer MJ, Minkara MS, Wedler HB, Zechmann B, Shaw BF. Universal pictures: A lithophane codex helps teenagers with blindness visualize nanoscopic systems. SCIENCE ADVANCES 2024; 10:eadj8099. [PMID: 38198555 PMCID: PMC10780880 DOI: 10.1126/sciadv.adj8099] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/17/2023] [Accepted: 12/14/2023] [Indexed: 01/12/2024]
Abstract
People with blindness have limited access to the high-resolution graphical data and imagery of science. Here, a lithophane codex is reported. Its pages display tactile and optical readouts for universal visualization of data by persons with or without eyesight. Prototype codices illustrated microscopy of butterfly chitin-from N-acetylglucosamine monomer to fibril, scale, and whole insect-and were given to high schoolers from the Texas School for the Blind and Visually Impaired. Lithophane graphics of Fischer-Spier esterification reactions and electron micrographs of biological cells were also 3D-printed, along with x-ray structures of proteins (as millimeter-scale 3D models). Students with blindness could visualize (describe, recall, distinguish) these systems-for the first time-at the same resolution as sighted peers (average accuracy = 88%). Tactile visualization occurred alongside laboratory training, synthesis, and mentoring by chemists with blindness, resulting in increased student interest and sense of belonging in science.
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Affiliation(s)
- Emily A. Alonzo
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
| | - Travis J. Lato
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
| | - Mayte Gonzalez
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
| | - Trevor L. Olson
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
| | - Quentin R. Savage
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
| | - Levi N. Garza
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
| | - Morgan T. Green
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
| | - Jordan C. Koone
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
| | - Noah E. Cook
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
| | - Chad M. Dashnaw
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
| | | | - John L. Wood
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
| | - Lisa S. Garbrecht
- Texas Advanced Computing Center, The University of Texas at Austin, Austin, TX, USA
| | - Madeline L. Haynes
- Texas Advanced Computing Center, The University of Texas at Austin, Austin, TX, USA
| | - Miriam R. Jacobson
- Texas Advanced Computing Center, The University of Texas at Austin, Austin, TX, USA
| | | | - Mona S. Minkara
- Department of Bioengineering, Northeastern University, Boston, MA, USA
| | | | - Bernd Zechmann
- Center for Microscopy and Imaging, Baylor University, Waco, TX, USA
| | - Bryan F. Shaw
- Department of Chemistry and Biochemistry, Baylor University, Waco, TX, USA
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7
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Zhang H, Zhou K, Shi K, Wang Y, Song A, Zhu L. SmartSpring: A Low-Cost Wearable Haptic VR Display with Controllable Passive Feedback. IEEE TRANSACTIONS ON VISUALIZATION AND COMPUTER GRAPHICS 2023; 29:4460-4471. [PMID: 37782602 DOI: 10.1109/tvcg.2023.3320249] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/04/2023]
Abstract
With the development of virtual reality, the practical requirements of the wearable haptic interface have been greatly emphasized. While passive haptic devices are commonly used in virtual reality, they lack generality and are difficult to precisely generate continuous force feedback to users. In this work, we present SmartSpring, a new solution for passive haptics, which is inexpensive, lightweight and capable of providing controllable force feedback in virtual reality. We propose a hybrid spring-linkage structure as the proxy and flexibly control the mechanism for adjustable system stiffness. By analyzing the structure and force model, we enable a smart transform of the structure for producing continuous force signals. We quantitatively examine the real-world performance of SmartSpring to verify our model. By asymmetrically moving or actively pressing the end-effector, we show that our design can further support rendering torque and stiffness. Finally, we demonstrate the SmartSpring in a series of scenarios with user studies and a just noticeable difference analysis. Experimental results show the potential of the developed haptic display in virtual reality.
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8
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Qi J, Gao F, Sun G, Yeo JC, Lim CT. HaptGlove-Untethered Pneumatic Glove for Multimode Haptic Feedback in Reality-Virtuality Continuum. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2301044. [PMID: 37382392 PMCID: PMC10477838 DOI: 10.1002/advs.202301044] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/15/2023] [Revised: 05/25/2023] [Indexed: 06/30/2023]
Abstract
Novel haptics technologies are urgently needed to bridge the gap between entirely physical world and fully digital environment to render a more realistic and immersive human-computer interaction. Current virtual reality (VR) haptic gloves either deliver limited haptic feedback or are bulky and heavy. The authors develop a haptic glove or HaptGlove, an untethered and lightweight pneumatic glove, that allows users to "physically" interact in a VR environment and enables both kinesthetic and cutaneous sensations naturally and realistically. Integrated with five pairs of haptic feedback modules and fiber sensors, HaptGlove provides variable stiffness force feedback and fingertip force and vibration feedback, allowing users to touch, press, grasp, squeeze, and pull various virtual objects and feel the dynamic haptic changes. Significant improvements in VR realism and immersion are observed in a user study with participants achieving 78.9% accuracy in sorting six virtual balls of different stiffnesses. Importantly, HaptGlove facilitates VR training, education, entertainment, and socialization in a reality-virtuality continuum.
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Affiliation(s)
- Jiaming Qi
- Department of Biomedical EngineeringNational University of SingaporeSingapore117583Singapore
- Institute for Health Innovation and Technology (iHealthtech)National University of SingaporeSingapore117599Singapore
| | - Feng Gao
- School of AstronauticsHarbin Institute of TechnologyHarbin150001China
| | - Guanghui Sun
- School of AstronauticsHarbin Institute of TechnologyHarbin150001China
| | - Joo Chuan Yeo
- Institute for Health Innovation and Technology (iHealthtech)National University of SingaporeSingapore117599Singapore
| | - Chwee Teck Lim
- Department of Biomedical EngineeringNational University of SingaporeSingapore117583Singapore
- Institute for Health Innovation and Technology (iHealthtech)National University of SingaporeSingapore117599Singapore
- Mechanobiology InstituteNational University of SingaporeSingapore117411Singapore
- SIA‐NUS Digital Aviation Corporate LabNational University of SingaporeSingapore117602Singapore
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9
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Valdivia AA, Habibian S, Mendenhall CA, Fuentes F, Shailly R, Losey DP, Blumenschein LH. Wrapping Haptic Displays Around Robot Arms to Communicate Learning. IEEE TRANSACTIONS ON HAPTICS 2023; PP:57-72. [PMID: 37022237 DOI: 10.1109/toh.2023.3240400] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/19/2023]
Abstract
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important for the human teacher to understand what their robot is learning. Visual displays can communicate this information; however, we hypothesize that visual feedback alone misses out on the physical connection between the human and robot. In this paper we introduce a novel class of soft haptic displays that wrap around the robot arm, adding signals without affecting that interaction. We first design a pneumatic actuation array that remains flexible in mounting. We then develop single and multi-dimensional versions of this wrapped haptic display, and explore human perception of the rendered signals during psychophysic tests and robot learning. We ultimately find that people accurately distinguish single-dimensional feedback with a Weber fraction of 11.4%, and identify multi-dimensional feedback with 94.5% accuracy. When physically teaching robot arms, humans leverage the single- and multi-dimensional feedback to provide better demonstrations than with visual feedback: our wrapped haptic display decreases teaching time while increasing demonstration quality. This improvement depends on the location and distribution of the wrapped haptic display.
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10
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Wersényi G. Perception Accuracy of a Multi-Channel Tactile Feedback System for Assistive Technology. SENSORS (BASEL, SWITZERLAND) 2022; 22:8962. [PMID: 36433558 PMCID: PMC9695395 DOI: 10.3390/s22228962] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/20/2022] [Revised: 11/11/2022] [Accepted: 11/15/2022] [Indexed: 06/16/2023]
Abstract
Assistive technology uses multi-modal feedback devices, focusing on the visual, auditory, and haptic modalities. Tactile devices provide additional information via touch sense. Perception accuracy of vibrations depends on the spectral and temporal attributes of the signal, as well as on the body parts they are attached to. The widespread use of AR/VR devices, wearables, and gaming interfaces requires information about the usability of feedback devices. This paper presents results of an experiment using an 8-channel tactile feedback system with vibrators placed on the wrists, arms, ankles, and forehead. Different vibration patterns were designed and presented using sinusoidal frequency bursts on 2, 4, and 8 channels. In total, 27 subjects reported their sensation formally and informally on questionnaires. Results indicate that 2 and 4 channels could be used simultaneously with high accuracy, and the transducers' optimal placement (best sensitivity) is on the wrists, followed by the ankles. Arm and head positions were inferior and generally inadequate for signal presentation. For optimal performance, signal length should exceed 500 ms. Furthermore, the amplitude level and temporal pattern of the presented signals have to be used for carrying information rather than the frequency of the vibration.
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Affiliation(s)
- György Wersényi
- Department of Telecommunications, Széchenyi István University, H-9026 Gyor, Hungary
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11
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Joshi S, Sonar H, Paik J. Flow Path Optimization for Soft Pneumatic Actuators: Towards Optimal Performance and Portability. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3100626] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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12
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Ly HH, Tanaka Y, Fujiwara M. SuP-Ring: A pneumatic tactile display with substitutional representation of contact force components using normal indentation. Int J Med Robot 2021; 17:e2325. [PMID: 34425041 DOI: 10.1002/rcs.2325] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/22/2021] [Revised: 08/20/2021] [Accepted: 08/20/2021] [Indexed: 01/09/2023]
Abstract
BACKGROUND Shear force is important for tumour detection and can contribute to minimally invasive surgery (MIS). A popular method uses lateral skin stretch to produce shear force but has some limitations. METHODS We have developed a ring-type pneumatic tactile display that employs normal indentation substituted for lateral skin stretch to represent normal and shear feedback, called SuP-Ring. Psychophysical experiments were conducted to evaluate how users perceive the provided feedback and the effectiveness of SuP-Ring in tumour localisation. RESULTS The experimental results show that the participants could perceive the provided normal and shear feedback well. Shear feedback enables users to enhance their performance in localising the tumour and normal feedback could contribute to ensuring the safety requirements in MIS. CONCLUSIONS The proposed tactile display could be useful for intraoperative tumour localisation and has the potential to be used in a wide variety of applications.
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Affiliation(s)
- Hoang Hiep Ly
- Department of Electrical and Mechanical Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Nagoya, Japan.,Research Fellow of Japan Society for the Promotion of Science, Tokyo, Japan
| | - Yoshihiro Tanaka
- Department of Electrical and Mechanical Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Nagoya, Japan
| | - Michitaka Fujiwara
- Medical xR Center, Nagoya University Graduate School of Medicine, Nagoya, Japan
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Handelzalts S, Ballardini G, Avraham C, Pagano M, Casadio M, Nisky I. Integrating Tactile Feedback Technologies Into Home-Based Telerehabilitation: Opportunities and Challenges in Light of COVID-19 Pandemic. Front Neurorobot 2021; 15:617636. [PMID: 33679364 PMCID: PMC7925397 DOI: 10.3389/fnbot.2021.617636] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/15/2020] [Accepted: 01/07/2021] [Indexed: 12/02/2022] Open
Abstract
The COVID-19 pandemic has highlighted the need for advancing the development and implementation of novel means for home-based telerehabilitation in order to enable remote assessment and training for individuals with disabling conditions in need of therapy. While somatosensory input is essential for motor function, to date, most telerehabilitation therapies and technologies focus on assessing and training motor impairments, while the somatosensorial aspect is largely neglected. The integration of tactile devices into home-based rehabilitation practice has the potential to enhance the recovery of sensorimotor impairments and to promote functional gains through practice in an enriched environment with augmented tactile feedback and haptic interactions. In the current review, we outline the clinical approaches for stimulating somatosensation in home-based telerehabilitation and review the existing technologies for conveying mechanical tactile feedback (i.e., vibration, stretch, pressure, and mid-air stimulations). We focus on tactile feedback technologies that can be integrated into home-based practice due to their relatively low cost, compact size, and lightweight. The advantages and opportunities, as well as the long-term challenges and gaps with regards to implementing these technologies into home-based telerehabilitation, are discussed.
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Affiliation(s)
- Shirley Handelzalts
- Department of Physical Therapy, Ben-Gurion University of the Negev, Be'er Sheva, Israel
- The Translational Neurorehabilitation Lab at Adi Negev Nahalat Eran, Ofakim, Israel
| | - Giulia Ballardini
- Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Genoa, Italy
- S.C.I.L Joint Lab, Department of Informatics, Bioengineering, Robotics and System Engineering (DIBRIS), Santa Corona Hospital, Pietra Ligure, Italy
| | - Chen Avraham
- Department of Biomedical Engineering, Ben-Gurion University of the Negev, Be'er Sheva, Israel
- Zlotowski Center for Neuroscience, Ben-Gurion University of the Negev, Be'er Sheva, Israel
| | - Mattia Pagano
- Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Genoa, Italy
- S.C.I.L Joint Lab, Department of Informatics, Bioengineering, Robotics and System Engineering (DIBRIS), Santa Corona Hospital, Pietra Ligure, Italy
| | - Maura Casadio
- Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Genoa, Italy
- S.C.I.L Joint Lab, Department of Informatics, Bioengineering, Robotics and System Engineering (DIBRIS), Santa Corona Hospital, Pietra Ligure, Italy
| | - Ilana Nisky
- The Translational Neurorehabilitation Lab at Adi Negev Nahalat Eran, Ofakim, Israel
- Department of Biomedical Engineering, Ben-Gurion University of the Negev, Be'er Sheva, Israel
- Zlotowski Center for Neuroscience, Ben-Gurion University of the Negev, Be'er Sheva, Israel
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