Haptic Feedback System Research Articles

An Exploratory Expert-Study for Multi-Type Haptic Feedback for Automotive Virtual Reality Tasks.

Previous research has shown that integrating haptic feedback can improve immersion and realism in automotive VR applications. However, current haptic feedback approaches primarily focus on a single feedback type. This means users must switch between devices to experience haptic stimuli for different feedback types, such as grabbing, collision, or weight simulation. This restriction limits the ability to simulate haptics realistically for complex tasks such as maintenance. To address this issue, we evaluated existing feedback devices based on our requirements analysis to determine which devices are most suitable for simulating these three feedback types. Since no suitable haptic feedback system can simulate all three feedback types simultaneously, we evaluated which devices can be combined. Based on that, we devised a new multi-type haptic feedback system combining three haptic feedback devices. We evaluated the system with different feedback-type combinations through a qualitative expert study involving twelve automotive VR experts. The results showed that combining weight and collision feedback yielded the best and most realistic experience. The study also highlighted technical limitations in current grabbing devices. Our findings provide insights into the effectiveness of haptic device combinations and practical boundaries for automotive virtual reality tasks.

Development of Virtual Reality-Based Left Brain System

This paper proposes a virtual reality based Left Brain System named BrainUp World to improve left brain thinking. The left-brain system was employed with mobile virtual reality technology, hand motion tracking and haptic feedback system. The implementation of these systems is to enhance the experience and sense of embodiment. BrainUp World includes virtual reality-based brain training games to improve a person’s attention level, reasoning skill, auditory cognition, arithmetic skill, sequencing skill and memory. The hand tracking system was utilized with an IR camera to capture the hand orientation and return the gesture data to the VR application. A low-cost and lightweight haptic glove was invented which provides the sense of touch using vibrations while interacting with VR contents. An experimental study was conducted to assess the efficacy of BrainUp World compared to traditional PC-based training approaches. Participants were randomly assigned to either the VR-based or PC-based training group and underwent 6 different games to test a person’s attention level, reasoning skill, auditory cognition, arithmetic skill, sequencing skill, and memory. The results revealed a statistically significant improvement in left brain function in the VR-based training group compared to the PC-based group, with a T-score growth of 4.73. Analysis using ANOVA confirmed the significance of this difference (p-Value = 0.04). Notably, the study also identified age-related differences in thinking fluency, highlighting the importance of personalized cognitive training interventions. In conclusion, BrainUp World demonstrates the potential of VR technology in promoting left brain development, as evidenced by empirical findings from the conducted study. By offering immersive and interactive cognitive training experiences, VR-based systems hold promise for enhancing various aspects of cognitive function associated with left hemisphere dominance. Further research in this area is encouraged to explore the full potential of VR-based interventions for cognitive enhancement.

Flexible and Transparent Electrovibration-Based Haptic Display with Low Driving Voltage.

Electrovibration haptic technology, which provides tactile feedback to users by swiping the surface with a finger via electroadhesion, shows promise as a haptic feedback platform for displays owing to its simple structure, ease of integration with existing displays, and simple driving mechanism. However, without electrical grounding on a user's body, the frequent requirement of a high driving voltage near 50 V limits the use of electrovibration haptic technology in practical display applications. This study introduces materials and fabrication strategies that considerably reduce the driving voltage. We used a transparent poly(vinylidene fluoride) (PVDF) thin film deposited on transparent conductive polymers through a simple spin-coating process, thereby enabling easy integration with existing display technologies. The high dielectric constant characteristics of PVDF enabled the production of tactile cues at low voltages (approximately 15 V), which are within the safety limits of common electronics. We verified the feasibility of our electrovibration haptic feedback system on the basis of the absolute threshold voltage through two-alternative forced choice psychological tests. The results revealed that the PVDF dielectric layer exhibited a relatively lower absolute threshold than commonly used polymer films, which possess a relatively lower dielectric constant. To validate the tactile attributes, a Likert five-point scale survey was conducted, considering flat, concave, and convex curvatures. The results indicated that our haptic device can render diverse surface textures, such as "hairy" and "groovy", on the fingertips through the control of applied pulse width modulated voltage signals.

Development of Center of Pressure Guided Wearable Haptic Feedback System to Improve Propulsion With Rigid Ankle Foot Orthosis: A Proof-of-Concept Study in Healthy Individuals

Development of Center of Pressure Guided Wearable Haptic Feedback System to Improve Propulsion With Rigid Ankle Foot Orthosis: A Proof-of-Concept Study in Healthy Individuals

AiroTouch: enhancing telerobotic assembly through naturalistic haptic feedback of tool vibrations.

Teleoperation allows workers to safely control powerful construction machines; however, its primary reliance on visual feedback limits the operator's efficiency in situations with stiff contact or poor visibility, hindering its use for assembly of pre-fabricated building components. Reliable, economical, and easy-to-implement haptic feedback could fill this perception gap and facilitate the broader use of robots in construction and other application areas. Thus, we adapted widely available commercial audio equipment to create AiroTouch, a naturalistic haptic feedback system that measures the vibration experienced by each robot tool and enables the operator to feel a scaled version of this vibration in real time. Accurate haptic transmission was achieved by optimizing the positions of the system's off-the-shelf accelerometers and voice-coil actuators. A study was conducted to evaluate how adding this naturalistic type of vibrotactile feedback affects the operator during telerobotic assembly. Thirty participants used a bimanual dexterous teleoperation system (Intuitive da Vinci Si) to build a small rigid structure under three randomly ordered haptic feedback conditions: no vibrations, one-axis vibrations, and summed three-axis vibrations. The results show that users took advantage of both tested versions of the naturalistic haptic feedback after gaining some experience with the task, causing significantly lower vibrations and forces in the second trial. Subjective responses indicate that haptic feedback increased the realism of the interaction and reduced the perceived task duration, task difficulty, and fatigue. As hypothesized, higher haptic feedback gains were chosen by users with larger hands and for the smaller sensed vibrations in the one-axis condition. These results elucidate important details for effective implementation of naturalistic vibrotactile feedback and demonstrate that our accessible audio-based approach could enhance user performance and experience during telerobotic assembly in construction and other application domains.

Data-Driven Controller for Drivers’ Steering-Wheel Operating Behaviour in Haptic Assistive Driving System

An advanced driver-assistance system (ADAS) is critical to driver–vehicle-interaction systems. Driving behaviour modelling and control significantly improves the global performance of ADASs. A haptic assistive system assists the driver by providing a specific torque on the steering wheel according to the driving–vehicle–road profile to improve the steering control. However, the main problem is designing a compensator dealing with the high-level uncertainties in different driving scenarios with haptic driver assistance, where different personalities and diverse perceptions of drivers are considered. These differences can lead to poor driving performance if not properly accounted for. This paper focuses on designing a data-driven model-free compensator considering various driving behaviours with a haptic feedback system. A backpropagation neural network (BPNN) models driving behaviour based on real driving data (speed, acceleration, vehicle orientation, and current steering angle). Then, the genetic algorithm (GA) optimises the integral time absolute error (ITEA) function to produce the best multiple PID compensation parameters for various driving behaviours (such as speeding/braking, lane-keeping and turning), which are then utilised by the fuzzy logic to provide different driving commands. An experiment was conducted with five participants in a driving simulator. During the second experiment, seven participants drove in the simulator to evaluate the robustness of the proposed combined GA proportional-integral-derivative (PID) offline, and the fuzzy-PID controller applied online. The third experiment was conducted to validate the proposed data-driven controller. The experiment and simulation results evaluated the ITAE of the lateral displacement and yaw angle during various driving behaviours. The results validated the proposed method by significantly enhancing the driving performance.

Initial experiences and troubleshooting of Senhance robotic system: A community hospital perspective

Purpose: The purpose of this study is to demonstrate the feasibility and safety of the Senhance robotic system in urologic surgeries. Materials and methods: Patients were included prospectively from July 2018 to December 2020. The exclusion criteria included severe cardiopulmonary diseases and previous extensive abdominal surgeries. Institutional approval and informed consent were obtained. We used the Clavien-Dindo classification system to evaluate the complications that occurred within 30 days after surgery. Common technical and mechanical events encountered were also recorded. Results: A total of 173 patients were recruited. The median age was 65 (58–74) years, and the median body mass index was 24.7 (16.5–35.6) kg/m2. Seventeen (9.8%) patients had previously undergone abdominal surgeries. Eighty-three (48%) cases had total extraperitoneal hernioplasty and 32 (18.5%) cases radical prostatectomy, which were the largest 2 surgeries in our study. Sixty-one (35.3%) patients received surgeries due to malignancy. The median docking time was 5 (1–35) minutes. There were 28 (16.2%) cases with grade I complications and 9 (5.2%) cases with grade II complications. Only one case of a grade IIIb complication occurred during radical prostatectomy. No grade IV complications or mortalities were noted. Robotic arm collisions and forces exceeding the limit were the most commonly encountered problems intraoperatively. Conclusion: In our initial experiences, the Senhance robotic system was feasible in oncologic and nononcologic urologic surgeries and had acceptable outcomes. The haptic feedback system is unique and requires a learning period. This system may serve as an alternative tool for robotic urologic surgeries.

Development of a master–slave 3D printed robotic surgical finger with haptic feedback

Robotic surgery started nearly 30 years ago. It has achieved telepresence and the performance of repetitive, precise, and accurate tasks. The “master–slave” robotic system allows control of manipulators by surgeon at distant site. Robotic surgical fingers were developed to allow surgeons to move them with accuracy through sensors fixed on surgeon’s hand. Also, haptic sensors were developed to allow transmission of sensation from robotic finger to surgeon’s finger. A complete system of a, 3D printed by a stereolithography (SLA) 3D printer, robotic surgical finger with haptic feedback system is proposed. The developed system includes a master glove that controls the motion of a 3DOF robotic slave finger while getting haptic feedback of force/pressure exerted on it. The precise control of the slave robotic finger was achieved by applying a Proportional Integral and Derivative (PID), fast and robust, control algorithm using an Arduino based hardware and software module. The individual joint angles, metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP), and wrist were measured using rotatory and inertial sensors respectively. The degree of movement for MCP, PIP, and Wrist joints were measured to be 0–86°, 0–71°, and 0–89° respectively. Motion to the robotic finger is mimicked by a glove motion requiring minimal learning curve for the device. The collected data for the slave motion is in good agreement with the master-glove motion data. The vibro-tactile haptic feedback system was developed to distinguish between three different materials to mimic human flesh, tumor, and bone. The master–slave system using robotic surgical finger with good simultaneous movement to surgeon’s finger and good haptic sensation will provide the surgeon with the opportunity to perform finger dissection in laparoscopic and robotic surgery, as it used to be in open surgery. 3D bio printing will make this process even cheaper with the added advantage of making surgical tools locally according to the need of the surgery. An ongoing work is to develop silicone based 8 mm robotic surgical finger with multiple type haptic feedback.

Advancements in robotic surgery: innovations, challenges and future prospects.

The use of robots has revolutionized healthcare, wherein further innovations have led to improved precision and accuracy. Conceived in the late 1960s, robot-assisted surgeries have evolved to become an integral part of various surgical specialties. Modern robotic surgical systems are equipped with highly dexterous arms and miniaturized instruments that reduce tremors and enable delicate maneuvers. Implementation of advanced materials and designs along with the integration of imaging and visualization technologies have enhanced surgical accuracy and made robots safer and more adaptable to various procedures. Further, the haptic feedback system allows surgeons to determine the consistency of the tissues they are operating upon, without physical contact, thereby preventing injuries due to the application of excess force. With the implementation of teleoperation, surgeons can now overcome geographical limitations and provide specialized healthcare remotely. The use of artificial intelligence (AI) and machine learning (ML) aids in surgical decision-making by improving the recognition of minute and complex anatomical structures. All these advancements have led to faster recovery and fewer complications in patients. However, the substantial cost of robotic systems, their maintenance, the size of the systems and proper surgeon training pose major challenges. Nevertheless, with future advancements such as AI-driven automation, nanorobots, microscopic incision surgeries, semi-automated telerobotic systems, and the impact of 5G connectivity on remote surgery, the growth curve of robotic surgery points to innovation and stands as a testament to the persistent pursuit of progress in healthcare.

Design and Characterisation of Multi-cavity, Fluidic Haptic Feedback System for Mechano-tactile Feedback.

Numerous studies have indicated that the use of a closed-loop haptic feedback system, which offers various mechano-tactile stimuli patterns with different actuation methods, can improve the performance and grasp control of prosthetic hands. Purely mechanical-driven feedback approaches for various mechano-tactile stimuli patterns, however, have not been explored. In this paper, a multi-cavity fluidic haptic feedback system is introduced with details of design, fabrication, and validation. The multi-cavity haptic feedback system can detect the physical touch with direction at the fingertip sensor. The direction of the force is reflected in the form of pressure deviation in the multi-cavity fingertip sensor. The feedback actuator generates various mechano-tactile stimuli patterns according to the pressure deviation from the fingertip sensor. Hence, users can identify the force with direction according to the stimuli patterns. The haptic feedback system is validated through two experiments. The initial experiment characterises the system and establishes the relationship between the fingertip sensor and feedback actuator. The subsequent experiment, a human interaction test, confirms the system's capability to detect force with directions and generate corresponding tactile stimuli in the feedback actuator. The outcomes corroborate the idea that participants are generally capable of discerning changes in angle.

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.

Wearable biosensors and their applications in healthcare

The technologies used in medical care region could become more widely-discussed in the society. In the past, most biosensors were used in the manufacturing and engineering to increase the efficiency of production enable to meet the requirements of mass production, as the inventors expand the use of piezoelectric biosensors, their application in healthcare and virtual reality become important. Therefore, this paper collected and summarized the results of several previous research papers, explained the different working theories of many types of biosensors, and detailed discussed the specific biosensors used in these areas to look into this topic. The finding is that effectively use the piezoelectric materials (PZT) sensors could largely improve the medical level and the function of virtual reality. The wearable haptic feedback system can be used not only in these areas, but lots have not been explored. The medical level and other fields can all be improved even more in the future through the use of biosensors.

Haptic Feedback Wristband for Tactile Graphics Reader

Traditionally, blind and visually impaired (BVI) readers face challenges in interpreting tactile graphics due to the need for specialized skills, training, and often external assistance. Existing audio feedback systems also present limitations, including susceptibility to surrounding noise and imprecise guidance. Therefore, this paper presents the design of an assistive device for tactile graphics reader using a haptic feedback system. This device takes the form of a digital watch with an adjustable strap, ensuring compatibility with various wrist sizes. It incorporates four strategically placed vibrating mini-motor discs that deliver directional signals to the user's hand through precise vibrations, guiding their exploration towards the area of interest on the tactile graphic. Pilot testing involving blindfolded sighted readers was conducted to assess the effectiveness of this haptic feedback wristband. The results of the testing revealed that participants could successfully discern direction cues and distinguish varying levels of vibration intensity. Notably, the success rates exceeded 70% for navigation and 85% for vibration intensity recognition.

Controlling a Below-the-Elbow Prosthetic Arm Using the Infinity Foot Controller

Nowadays there are various prosthetic arm designs in the literature, the market, and CAD design websites, with different shapes, sizes, and degrees of freedom. Only limited options are available for controlling such prostheses. Prosthetic arm users reported muscle fatigue and unreliability when using the market-dominated myoelectric sensors. This work presents the “Infinity Foot Controller” as a new approach to control a five-finger below-the-elbow prosthetic arm with wrist rotation and bending capabilities. This foot control system receives user input from a custom insole and a sensor-controller unit placed alongside the user’s shoe to perform various hand grips, gestures, and/or rotations. To demonstrate the new foot controller, a design of a 3D-printed below-the-elbow prosthetic arm, called the “Infinity Arm”, is presented. This arm is suitable for gripping relatively lightweight objects and making hand gestures. It includes a wrist actuation system that permits 120° wrist rotation and 70° wrist extension and flexion. It also includes a haptic feedback system that utilizes fingertip force sensors to relay a vibratory response in an armband placed on the user’s arm, giving the user a sense of touch. A proof-of-concept model was built to demonstrate the system and a testing procedure was proposed.

AI-Enabled Vibrotactile Feedback-Based Condition Monitoring Framework for Outdoor Mobile Robots

An automated Condition Monitoring (CM) and real-time controlling framework is essential for outdoor mobile robots to ensure the robot’s health and operational safety. This work presents a novel Artificial Intelligence (AI)-enabled CM and vibrotactile haptic-feedback-based real-time control framework suitable for deploying mobile robots in dynamic outdoor environments. It encompasses two sections: developing a 1D Convolutional Neural Network (1D CNN) model for predicting system degradation and terrain flaws threshold classes and a vibrotactile haptic feedback system design enabling a remote operator to control the robot as per predicted class feedback in real-time. As vibration is an indicator of failure, we identified and separated system- and terrain-induced vibration threshold levels suitable for CM of outdoor robots into nine classes, namely Safe, moderately safe system-generated, and moderately safe terrain-induced affected by left, right, and both wheels, as well as severe classes such as unsafe system-generated and unsafe terrain-induced affected by left, right, and both wheels. The vibration-indicated data for each class are modelled based on two sensor data: an Inertial Measurement Unit (IMU) sensor for the change in linear and angular motion and a current sensor for the change in current consumption at each wheel motor. A wearable novel vibrotactile haptic feedback device architecture is presented with left and right vibration modules configured with unique haptic feedback patterns corresponding to each abnormal vibration threshold class. The proposed haptic-feedback-based CM framework and real-time remote controlling are validated with three field case studies using an in-house-developed outdoor robot, resulting in a threshold class prediction accuracy of 91.1% and an effectiveness that, by minimising the traversal through undesired terrain features, is four times better than the usual practice.

A Haptic Feedback System for Spatial Orientation in the Visually Impaired: A Comprehensive Approach

A Haptic Feedback System for Spatial Orientation in the Visually Impaired: A Comprehensive Approach

Walker Integrated with IOT Based Fall Detection, Emergency Response System with Haptic Feedback System for Muscle Relief

In the last decade, the clinical reasoning in physical therapy has been to develop systems for physiotherapists to make clinical decisions rapidly, effectively and efficiently, in response to the increasingly complex needs of health and rehabilitation units. Some studies show the importance of walking aids during rehabilitation from some diseases, and after surgery for arthroplasty in the elderly population, and elderly patients with balance disorders, muscle weakness. Walkers are important devices that aid the rehabilitation process. The use of a walker is recommended for gait changes and imbalance due to various factors, such as surgery of the lower limbs or neurodegenerative changes, especially in the early recovery period. In this project we design a solution for the patient using walkers, this device helps them to maintain the proper balance. The system's foundation lies in a network of strategically placed sensors, including gyroscopes, accelerometers, and pressure sensors, meticulously capturing data on the user's body posture and gait patterns. Employing advanced algorithms, the gathered data is processed and analyzed in real-time to evaluate the user's alignment and identify any deviations from the ideal posture. Furthermore, the system facilitates seamless data recording and analysis, enabling healthcare professionals and physiotherapists to access valuable insights on International Journal of Scientific Research in Engineering and Management (IJSREM) Volume: 07 Issue: 08 | August - 2023 SJIF Rating: 8.176 ISSN: 2582-3930 © 2023, IJSREM | www.ijsrem.com DOI: 10.55041/IJSREM25086 | Page 2 the user's progress and performance. The accumulated data assists in developing personalized rehabilitation plans and tracking the user's improvements over time. Index Terms— Microcontroller, LCD, Movement Detection, Accelerometer sensor, ultrasonic sensor, GSM, GPS.

A low-cost robotic hand prosthesis with apparent haptic sense controlled by electroencephalographic signals

One of the biggest problems faced by amputees is obtaining a suitable low-cost prosthesis. To address this problem, the design and implementation of a transradial prosthesis controlled by electroencephalographic (EEG) signals was carried out. This prosthesis is an alternative to prostheses using electromyographic (EMG) signals, which are very complex and exhausting for the patient to execute.We collected EEG signal data using the Emotiv Insight Headset, which were then processed to control the movement of the prosthesis, known as the Zero Arm. Additionally, we incorporated Machine Learning algorithms to classify different types of objects and shapes. The prosthesis also features a haptic feedback system, which simulates the function of mechanoreceptors in the skin, providing the user with a sense of touch when using the prosthesis.Our research has yielded a viable and cost-effective prosthetic limb. We utilized 3D printing and easily obtainable servomotors and controllers, making the prosthesis affordable and accessible.Performance tests of the Zero Arm prosthesis have yielded promising results. The prosthesis demonstrated an average success rate of 86.67% across various tasks, indicating its reliability and effectiveness. Additionally, the prosthesis has an average recognition rate of 70% for different types of objects, a noteworthy accomplishment.

Investigating the efficacy of a tactile feedback system to increase the gait speed of older adults

The objective of this study was to determine (1) if a novel haptic feedback system could increase the walking speed of older adults while it is being employed during overground walking and (2) whether the frequency at which this feedback was presented would have a differential impact on the ability of users to change walking speed while it was present. Given that peak thigh extension has been found to be a biomechanical surrogate for stride length, and consequently gait speed, vibrotactile haptic feedback was provided to the participants' thighs as a cue to increase peak thigh extension while the effect on gait speed was monitored. Ten healthy community-dwelling older adults (68.4 ± 4.1 years) participated. Participants' peak thigh extension, cadence, normalized stride length and velocity, along with their coefficients of variation (COV) were compared across baseline normal and fast walking (with no feedback) and three different frequency of feedback conditions. The findings indicated that, compared to self-selected normal and fast walking speeds, peak thigh extension was significantly increased when feedback was present and after it was withdrawn in a post-test. An increase in thigh extension led to an increase in stride length and, consequently, an increase in stride velocity compared to normal speed. There were no significant differences in the gait parameters as a function of feedback frequency during its application. In conclusion, while present, the haptic feedback system increased thigh extension and walking speed in older adults regardless of the feedback frequency and when the feedback was withdrawn, participants could maintain an increase in those parameters.

Programmable tactile feedback system for blindness assistance based on triboelectric nanogenerator and self-excited electrostatic actuator

Vibro-tactile devices are highly resistant to interference and perform excellently in noisy environments, rendering them the preferred method for blindness assistance. To construct an effective haptic feedback system, two key elements are required: a highly sensitive vibration actuator and a safe high-voltage power source. In this work, a self-powered tactile feedback system (STFS) is proposed on the basis of triboelectric nanogenerator (TENG) and self-excited electrostatic actuator (SEEA). The performances of the TENG and SEEA have been systematically investigated and optimized to ensure that the former can power the latter to produce sufficient vibration stimuli on the user’s skin. With the help of a programmed switch matrix, a series of practical applications have been demonstrated, including a refreshable Braille system, a haptic navigation interface, and tactile-assisted encrypted communication. The proposed STFS holds the merits of being portable, cost-effective, multifunctional, and high-accurate, demonstrating the great potential to substantially improve the quality of life for visually impaired individuals.