Haptic Interface Research Articles

Perception and satisfaction of blind individuals regarding an electronic cane prototype with a wearable haptic device.

This study aimed to evaluate the perception and degree of satisfaction of blind individuals regarding an electronic cane prototype with a wearable haptic interface. Two scenarios with different obstacles were created to conduct tests with the canes (the user's cane and the prototype one). The perception and satisfaction of participants regarding the electronic cane were assessed using a questionnaire, the number of collisions during the tests, and the time each individual took to complete the course in each scenario. Ten blind individuals who used the white cane participated in this study. Eight were males, and two were females. Their age ranged from 23 to 43 (average 32.3 ± 7.13 years and median 32 years). There was a tendency for fewer collisions with ground obstacles when the electronic cane was used than when the white cane was used. However, there was no statistically significant difference between the number of collisions and the course completion time in each scenario with either canes tested. Overall, the perception and satisfaction of individuals regarding the prototype used were positive.

Expanding Softness and Hardness Sensations in Mid-Air Ultrasonic Haptic Interfaces Combining Amplitude and Spatiotemporal Modulation

Expanding Softness and Hardness Sensations in Mid-Air Ultrasonic Haptic Interfaces Combining Amplitude and Spatiotemporal Modulation

A Lightweight Haptic Interface for Hand-to-Object Tasks With Spatiotemporal Displays

A Lightweight Haptic Interface for Hand-to-Object Tasks With Spatiotemporal Displays

A Reversible, Versatile Skin‐Attached Haptic Interface Platform with Bioinspired Interconnection Architectures Capable of Resisting Sweat and Vibration

AbstractA stable conformal interface technology for rough and sweaty complex skin is essential for a haptic interface capable of delivering sophisticated mechanical stimuli. However, conventional polymeric/hydrogel‐based skin adhesives cannot maintain adequate adhesion interaction performance at the haptic interface due to repetitive vibrations or sweaty skin. This study reports a reversible, versatile skin‐attached haptic interface platform, which embeds the hybrid architecture of a water‐drainable hexagonal array of frog toe pads and the energy‐dissipation matrix of snail pedal muscles with interconnected structures. The hybrid frog–snail‐inspired adhesive patch exhibits remarkable adhesion in pulling and shear directions under both dry and sweaty conditions. Furthermore, the microchannels between the hexagonal array can effectively drain liquid under sweaty conditions while also enhancing skin‐conformal contacts. The adhesion force enhanced by energy‐dissipation is analyzed considering a simple theory based on the adhesion, elastic, dissipation energies, and geometric features, resulting in the vibration‐resistant characteristics against diverse dry and wet vibration environments (vibrational frequency: 1–150 Hz). Bioinspired integrated skin‐attached haptic interface platform demonstrates the versatility of being reversibly applicable to various skin surfaces such as fingers, arms, and legs, yielding the feasibility of dynamic handling a basketball with multiple contacts and impacts in virtual reality (VR).

Publisher Correction: A skin-integrated multimodal haptic interface for immersive tactile feedback

Publisher Correction: A skin-integrated multimodal haptic interface for immersive tactile feedback

“Otogi Box”: a Cubic Haptic Interface to Tell a Story in Your Hands.

“Otogi Box”: a Cubic Haptic Interface to Tell a Story in Your Hands.

Distally-referred surface electrical nerve stimulation (DR-SENS) for haptic feedback

Objective. This study’s objective is to understand distally-referred surface electrical nerve stimulation (DR-SENS) and evaluates the effects of electrode placement, polarity, and stimulation intensity on the location of elicited sensations in non-disabled individuals. Approach. A two-phased human experiment was used to characterize DR-SENS. In Experiment One, we explored 182 electrode combinations to identify a subset of electrode position combinations that would be most likely to elicit distally-referred sensations isolated to the index finger without discomfort. In Experiment Two, we further examined this subset of electrode combinations to determine the effect of stimulation intensity and electrode position on perceived sensation location. Stimulation thresholds were evaluated using parameter estimation by sequential testing and sensation locations were characterized using psychometric intensity tests. Main Results. We found that electrode positions distal to the wrist can consistently evoke distally referred sensations with no significant polarity dependency. The finger-palm combination had the most occurrences of distal sensations, and the different variations of this combination did not have a significant effect on sensation location. Increasing stimulation intensity significantly expanded the area of the sensation, moved the most distal sensation distally, and moved the vertical centroid proximally. Also, a large anodic-leading electrode at the elbow mitigated all sensation at the anodic-leading electrode site while using symmetric stimulation waveforms. Furthermore, this study showed that the most intense sensation for a given percept can be distally referred. Lastly, for each participant, at least one of the finger-palm combinations evaluated in this study worked at both perception threshold and maximum comfortable stimulation intensities. Significance. These findings show that a non-invasive surface electrical stimulation charge modulated haptic interface can be used to elicit distally-referred sensations on non-disabled users. Furthermore, these results inform the design of novel haptic interfaces and other applications of surface electrical stimulation based haptic feedback on electrodes positioned distally from the wrist.

Implementation of a haptic interface in Unreal Engine and the estimation of speeds to reduce vibrations

Este trabajo aborda la implementación de una interfaz háptica en Unreal Engine en conjunto con un robot de un grado de libertad. Unreal Engine es un potente motor gratuito de renderizado y simulación en el que se desarrolló un gemelo digital capaz de interactuar con una plataforma física mediante una comunicación bidireccional de posición y torque para seguimiento de trayectoria y reflejo de fuerzas. Se condujeron diferentes experimentos para validar la integración tecnológica ante distintas condiciones de operación. El resultado fue una plataforma de bajo costo, con una sensación háptica aceptable, y un entorno digital para visualizar, analizar y comprender la tecnología de gemelos digitales y los desafíos que se enfrentan. Se validaron además distintas estrategias para estimar la velocidad y reducir significativamente las vibraciones en el sistema producto de retardos en la comunicación, pues estas afectan negativamente la precisión y la calidad de la interacción robótica.

Semiautonomous Robotic Manipulator for Minimally Invasive Aortic Valve Replacement.

Aortic valve surgery is the preferred procedure for replacing a damaged valve with an artificial one. The ValveTech robotic platform comprises a flexible articulated manipulator and surgical interface supporting the effective delivery of an artificial valve by teleoperation and endoscopic vision. This article presents our recent work on force-perceptive, safe, semiautonomous navigation of the ValveTech platform prior to valve implantation. First, we present a force observer that transfers forces from the manipulator body and tip to a haptic interface. Second, we demonstrate how hybrid forward/inverse mechanics, together with endoscopic visual servoing, lead to autonomous valve positioning. Benchtop experiments and an artificial phantom quantify the performance of the developed robot controller and navigator. Valves can be autonomously delivered with a 2.0±0.5 mm position error and a minimal misalignment of 3.4±0.9°. The hybrid force/shape observer (FSO) algorithm was able to predict distributed external forces on the articulated manipulator body with an average error of 0.09 N. FSO can also estimate loads on the tip with an average accuracy of 3.3%. The presented system can lead to better patient care, delivery outcome, and surgeon comfort during aortic valve surgery, without requiring sensorization of the robot tip, and therefore obviating miniaturization constraints.

A skin-integrated multimodal haptic interface for immersive tactile feedback

A skin-integrated multimodal haptic interface for immersive tactile feedback

Fully addressable textile sensor array for self-powered haptic interfacing

Fully addressable textile sensor array for self-powered haptic interfacing

SmartSpring: a Low-Cost Wearable Haptic VR Display with Controllable Passive Feedback.

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.

HaptStarter: Designing haptic stimulus start system for deaf and hard of hearing sprinters

In this study, we design and develop HaptStarter—a haptic stimulus start system—to improve the starting performance of the deaf and hard of hearing (DHH) sprinters. A DHH person has a physical ability nearly equivalent to hearing; however, the difficulties in perceiving audio information lead to differences in their performance in sports. Furthermore, the visual reaction time is slower than the auditory reaction time (ART), while the haptic reaction time is equivalent to it. However, a light stimulus start system is increasingly being used in sprint races to aid DHH sprinters. In this study, we design a brand-new haptic stimulus start system for DHH sprinters; we also determine and leverage an optimum haptic stimulus interface. The proposed method has the potential to contribute toward the development of prototypes based on the universal design principle for everyone (DHH, blind and low-vision, and other disabled sprinters with wheelchairs or artificial arms or legs, etc.) by focusing on the overlapping area of sports and disability with human–computer interaction.

A Spatially Selective Electroactive‐Actuating Adhesive Electronics for Multi‐Object Manipulation and Adaptive Haptic Interaction

AbstractSome organisms often use adhesive setae to manipulate objects or communicate critical signals for survival through subtle surface‐transmitted vibrations, along with locomotion and long‐term adherence. Inspired by this phenomenon, the spatially selective vibration‐transmitting electronics of a multi‐pixelated electroactive‐actuating adhesive patch coupled with small adhesive architectures are presented. Here, diving beetle‐like small dense hairs possessing concave cavities are introduced to obtain high adaptability on various non‐flat surfaces in dry or wet conditions. Based on the versatile vibration‐transmitting platform, the ensuing lightweight, spatially‐selective, switchable‐adhesive device is demonstrated to effectively manipulate multiple objects simultaneously, thus overcoming the limitations of existing monotonous transportation devices. In addition, the electronics can be applied to the stretchable skin‐conforming haptic interface with high breathability and repeatable attachment capability, capable of recognizing complex outward textures of virtual objects. This skin‐adaptive haptic electronics can amplify the tiny vibrotactile feedback from the diverse surface textures of virtual creatures due to its possession of bioinspired architectures at the human–machine interface. Here, the stably encapsulated device is integrated with machine learning‐based comprehension for reproducible expression. Therefore, this technology offers promise in virtual reality and augmented reality applications.

Easy-To-Wear Auxetic SMA Knot-Architecture for Spatiotemporal and Multimodal Haptic Feedbacks.

Wearable haptic interfaces prioritize user comfort, but also value the ability to provide diverse feedback patterns for immersive interactions with the virtual or augmented reality. Here, to provide both comfort and diverse tactile feedback, an easy-to-wear and multimodal wearable haptic auxetic fabric (WHAF) is prepared by knotting shape-memory alloy wires into an auxetic-structured fabric. This unique meta-design allows the WHAF to completely expand and contract in 3D, providing superior size-fitting and shape-fitting capabilities. Additionally, a microscale thin layer of Parylene is coated on the surface to create electrically separated zones within the WHAF, featuring zone-specified actuation for conveying diverse spatiotemporal information to users with using the WHAF alone. Depending on the body part it is worn on, the WHAF conveys either cutaneous or kinesthetic feedback, thus, working as a multimodal wearable haptic interface. As a result, when worn on the forearm, the WHAF intuitively provides spatiotemporal information to users during hands-free navigation and teleoperation in virtual reality, and when worn on the elbow, the WHAF guides users to reach the desired elbow flexion, like a personal exercise advisor.

Study of the Effectiveness of a Wearable Haptic Interface With Cutaneous and Vibrotactile Feedback for VR-Based Teleoperation.

The control principle of teleoperated robotic systems is often not very intuitive, resulting in substantial cognitive load for the operator. Besides, the teleoperation of robotic systems requires stable and convenient visual feedback for the operator. Better spatio-temporal robot coordination can be achieved by providing the operator with high-fidelity multimodal haptic feedback. Using the advantages of virtual reality (VR) and haptic technology, we can improve the quality of teleoperation and increase the level of user involvement when operating the system. This article focuses on studying the effectiveness of the developed wearable haptic interface, vDeltaGlove, that provides multimodal haptic feedback when controlling a robotic arm through a virtual environment (VE). We evaluated the performance of vDeltaGlove in the series of teleoperation tasks. vDeltaGlove interface showed comparable characteristics with the Omega.7 desktop haptic device in terms of accuracy and outreached the performance of operation with VIVE controller. Besides, the developed interface showed the superior evaluation in terms of user experience. The proposed technology suggests a novel way of human-robot interaction (HRI) to achieve intuitive and immersive robot control.

Ultraloop: Active Lateral Force Feedback Using Resonant Traveling Waves.

The sensation of touching virtual texture and shape can be provided to a touchscreen user by varying the friction force. Despite the saliency of the sensation, this modulated frictional force is purely passive and strictly opposes finger movement. Therefore, it is only possible to create forces along the direction of movement and this technology cannot stimulate a static fingertip or provide forces that are orthogonal to the direction of movement. The lack of orthogonal force limits the guidance to a target in an arbitrary direction and there is a need for active lateral forces to give directional cues to the fingertip. Here, we introduce a surface haptic interface that uses ultrasonic traveling waves to create an active lateral force on bare fingertips. The device is built around a ring shape cavity where two degenerate resonant modes around 40 kHz are excited with 90 ° phase shift. The interface provides active forces up to 0.3 N to a static bare finger uniformly over a 140×30 mm 2 surface. We report the model and design of the acoustic cavity, force measurements, and an application to create a key-click sensation. This work demonstrates a promising method for uniformly producing large lateral forces on a touch surface.

Programmable and Ultrasensitive Haptic Interfaces Enabling Closed‐Loop Human–Machine Interactions

AbstractIntuitive, efficient, and unconstrained interactions require human–machine interfaces (HMIs) to accurately recognize users' manipulation intents. Susceptibility to interference and conditional usage mode of HMIs will lead to poor experiences that limit their great interaction potential. Herein, a programmable and ultrasensitive haptic interface enabling closed‐loop human–machine interactions is reported. A cross‐scale architecture design strategy is proposed to fabricate the haptic interface, which optimizes the hierarchical contact process. The synergistic optimization of the cross‐scale architecture between carbon nanotubes and the multiscale sensing structure realizes a haptic interface with ultrahigh sensitivity and a wide detection range of 15.1 kPa−1 and 180 kPa, which are improved by more than 900% over the performance of the common interface. The rapid response time of <5 ms and the limit of detection of 8 Pa of the haptic interface far surpass the somatosensory perception of human skin, which enables the haptic interface to accurately recognize interactive intents. A wireless pressure‐data interactive glove (wireless PDI glove) is designed and realizes a round‐the‐clock operation, noise immunity, and efficient interactive control, which perfectly compensate for the flaws of typical vision and voice recognition modes.

Bimanual Intravenous Needle Insertion Simulation Using Nonhomogeneous Haptic Device Integrated into Mixed Reality.

In this study, we developed a new haptic-mixed reality intravenous (HMR-IV) needle insertion simulation system, providing a bimanual haptic interface integrated into a mixed reality system with programmable variabilities considering real clinical environments. The system was designed for nursing students or healthcare professionals to practice IV needle insertion into a virtual arm with unlimited attempts under various changing insertion conditions (e.g., skin: color, texture, stiffness, friction; vein: size, shape, location depth, stiffness, friction). To achieve accurate hand-eye coordination under dynamic mixed reality scenarios, two different haptic devices (Dexmo and Geomagic Touch) and a standalone mixed reality system (HoloLens 2) were integrated and synchronized through multistep calibration for different coordinate systems (real world, virtual world, mixed reality world, haptic interface world, HoloLens camera). In addition, force-profile-based haptic rendering proposed in this study was able to successfully mimic the real tactile feeling of IV needle insertion. Further, a global hand-tracking method, combining two depth sensors (HoloLens and Leap Motion), was developed to accurately track a haptic glove and simulate grasping a virtual hand with force feedback. We conducted an evaluation study with 20 participants (9 experts and 11 novices) to measure the usability of the HMR-IV simulation system with user performance under various insertion conditions. The quantitative results from our own metric and qualitative results from the NASA Task Load Index demonstrate the usability of our system.

Training Induced Improvement on Human Perception of the Force Feedback Provided by A Soft Robotic Glove.

Creating haptic interface by glove-based wearable robotic system has become an increasingly interested topic in the area of human robotic interaction. Many force feedback gloves are constructed based on soft actuators. However, the recent development of haptic and force feedback technology mainly focused on the advancement of the actuating components and mechanism, and innovation of the force feedback rendering algorithms. It seems that another important part of this human-robot-interaction loop, i.e. the human factors, were understudied. Here, this study focused on the learning effect in haptic perception. We designed a pneumatic muscle-based force feedback robotic glove which can provide customized force feedback to the dorsal surface of each finger. An experiment was carried out with a specifically training procedure and evaluation on the force feedback perceptions. The results show that practice-induced improvement can be achieved by this training, allowing people have a better perception of the force feedback provided by this glove.