Augmentation Of Stiffness Perception With a 1-Degree-of-Freedom Skin Stretch Device

Quek, Zhan Fan; Schorr, S; Nisky, Ilana; Okamura, Allison M.; Provancher, William R.

doi:10.1109/thms.2014.2348865

Cited by 71 publications

(61 citation statements)

References 45 publications

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“…Our results resemble those reported in Quek et al (Quek et al 2014), who showed that inducing artificial skin-stretch leads to an increase in the perceived stiffness of kinesthetically rendered surfaces. However, in their study, participants also received visual feedback, which may explain the large inter-subject variability that was less prominent in our results.…”

Section: Discussionsupporting

confidence: 91%

“…Consistent with previous studies (Quek et al 2014, Quek et al 2013, we found that adding artificial tactile feedback in the direction of the applied kinesthetic force augmented the perceived stiffness, and that the augmentation was a linear function of tactor displacement gain. Nine out of the ten participants showed an increase in perceived stiffness, but there was variability in the magnitude of the effects.…”

Section: Discussionsupporting

confidence: 91%

“…This finding suggests that participant changed their internal representation, but our study design could not differentiate what changed in the representation. The illusion could be related to an additional load force (Quek et al 2014, Provancher, Sylvester 2009), or alternatively, the internal representation of the force field's stiffness could have been updated directly. Johansson et al (Johansson, Westling 1984) showed that during a lifting task, the slope in the grip force-load force plane increased with surface slipperiness.…”

Section: Discussionmentioning

confidence: 99%

“…However, passive or anesthetized touch is different from active touch (Gwilliam et al 2014). Recently, there has been a significant advancement in the development of devices for tactile stimulation of the finger pads (Prattichizzo, Pacchierotti & Rosati 2012, Quek et al 2014. In most of these devices, a moving tactor (a pin with a flat high-friction top) is in contact with the skin and causes an artificial skin deformation.…”

Section: Introductionmentioning

confidence: 99%

“…They are also instrumental to investigating the combination of tactile and kinesthetic information in a variety of scenarios. For example, a study in which artificial skin-stretch was added to a kinesthetic force showed that tactor displacement-induced skin-stretch had a linear additive effect on stiffness perception (Quek et al 2014). It was also shown that when applying tangential and normal forces to the tip of the finger, the perceived stretch intensity was linearly related to the applied force magnitude (Paré, Carnahan & Smith 2002).…”

Section: Introductionmentioning

confidence: 99%

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Stretching the skin of the fingertip creates a perceptual and motor illusion of touching a harder spring

Farajian

Leib

Zaidenberg

et al. 2017

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We investigated how artificial tactile feedback in the form of a skin-stretch affects perception of stiffness and grip force adjustment. During interactions with objects, information from kinesthetic and tactile sensors is used to estimate the forces acting on the limbs. These enable the perception of the mechanical properties of objects to form, and the creation of internal models to predict the consequences of interactions with these objects, such as feedforward grip-force adjustments to prevent slippage. Previous studies showed that an artificial stretch of the skin of the fingertips can produce a linear additive effect on stiffness perception, but it remains unclear how such stretch affects the control of grip force. Here, we used a robotic device and a custom-built skin-stretch device to manipulate kinesthetic and tactile information. Using a stiffness discrimination task, we found that adding artificial tactile feedback to a kinesthetic force can create the illusion of touching a harder spring which affects both perception and action. The magnitude of the illusion is linearly related to the amplitude of the applied stretch. We also isolated the contribution of tactile stimulation to the predictive and reactive components of grip force adjustment, and found that unlike in other cases of perceptual illusions, the predictive grip force is . CC-BY-NC-ND4.0 International license peer-reviewed) is the author/funder. It is made available under aThe copyright holder for this preprint (which was not . http://dx.doi.org/10.1101/203604 doi: bioRxiv preprint first posted online Oct. 15, 2017; 2 modulated consistently with the perceptual tactile-induced illusion. These results have major implications for the design of tactile interfaces across a variety of touch applications such as wearable haptic devices, teleoperations, robot-assisted surgery, and prosthetics.Keywords: grip force control, stiffness perception, skin-stretch, sensory augmentation, predictive control, reactive control. Significance StatementSensing forces, using kinesthetic and tactile modalities, is important for assessing the mechanical properties of objects, and for acting the objects while stabilizing grasp against slippage. A major challenge in understanding the internal representations that allow for a predictive grip force control during contact with objects is to dissociate the contribution of tactile and kinesthetic stimuli. To date, this contribution was investigated only in impaired cases either through local anesthesia or in patients with sensory impairment. Our study demonstrates using a programmable mechatronic device that artificially applied skinstretch creates an illusion of a greater load force that affects grip force control and stiffness perception. These results are applicable in tactile technologies for wearable haptic devices, teleoperation, robot-assisted surgery, and prosthetics.

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Section: Discussionsupporting

confidence: 91%

Section: Discussionsupporting

confidence: 91%