Cues for Haptic Perception of Compliance

Tiest, Wouter M. Bergmann; Kappers, Astrid M. L.

doi:10.1109/toh.2009.16

Cited by 196 publications

(123 citation statements)

References 16 publications

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“…However, for small strains, as expected in this case, the compliance of the soft haptic interface can still be characterized by the ratio of the force exerted on it and the resulting displacement (Bergmann Tiest and Kappers, 2009;Bergmann Tiest, 2010):…”

Section: Characterizationmentioning

confidence: 67%

“…Therefore, the end user needs to be able to readily differentiate the stiffness of the device from the lowest stiffness setting up to the highest. More importantly, perception of stiffness often involves a variety of somatosensory modalities, such as mechanoreceptors, muscle spindles, and Golgi tendon (Jones and Hunter, 1990;Bergmann Tiest and Kappers, 2009), as well as the ability to coordinate joint positions and contact forces. Therefore, this type of tasks could have potential application in the rehabilitation of sensorimotor function of hands.…”

Section: Efficacy Of Devicementioning

confidence: 99%

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Soft Robotic Haptic Interface with Variable Stiffness for Rehabilitation of Neurologically Impaired Hand Function

Sebastian

Santello

et al. 2017

Front. Robot. AI

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The human hand comprises complex sensorimotor functions that can be impaired by neurological diseases and traumatic injuries. Effective rehabilitation can bring the impaired hand back to a functional state because of the plasticity of the central nervous system to relearn and remodel the lost synapses in the brain. Current rehabilitation therapies focus on strengthening motor skills, such as grasping, employ multiple objects of varying stiffness so that affected persons can experience a wide range of strength training. These devices have limited range of stiffness due to the rigid mechanisms employed in their variable stiffness actuators. This paper presents a novel soft robotic haptic device for neuromuscular rehabilitation of the hand, which is designed to offer adjustable stiffness and can be utilized in both clinical and home settings. The device eliminates the need for multiple objects by employing a pneumatic soft structure made with highly compliant materials that act as the actuator of the haptic interface. It is made with interchangeable sleeves that can be customized to include materials of varying stiffness to increase the upper limit of the stiffness range. The device is fabricated using existing 3D printing technologies, and polymer molding and casting techniques, thus keeping the cost low and throughput high. The haptic interface is linked to either an open-loop system that allows for an increased pressure during usage or closed-loop system that provides pressure regulation in accordance to the stiffness the user specifies. Preliminary evaluation is performed to characterize the effective controllable region of variance in stiffness. It was found that the region of controllable stiffness was between points 3 and 7, where the stiffness appeared to plateau with each increase in pressure. The two control systems are tested to derive relationships between internal pressure, grasping force exertion on the surface, and displacement using multiple probing points on the haptic device. Additional quantitative evaluation is performed with study participants and juxtaposed to a qualitative analysis to ensure adequate perception in compliance variance. The qualitative evaluation showed that greater than 60% of the trials resulted in the correct perception of stiffness in the haptic device.

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Section: Characterizationmentioning

confidence: 67%

Section: Efficacy Of Devicementioning

confidence: 99%

Soft Robotic Haptic Interface with Variable Stiffness for Rehabilitation of Neurologically Impaired Hand Function

Sebastian

Santello

et al. 2017

Front. Robot. AI

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“…The standard deviation is an order of magnitude smaller, indicating that the error rate estimate is quite good. The optimal value of δ (averaged over the 40 holdout realizations) varies from 11.6% to 13.6%, which is in the same range as studies of the Weber constant in prior literature (see for example [3], [7]). There does not appear to be any specific relationship between T 0 and δ opt , but for largest two values of T 0 considered, δ opt is smallest.…”

Section: B Weber Classifiermentioning

confidence: 68%

Can we improve over weber sampling of haptic signals?

Bhardwaj

Dabeer

Chaudhuri

2013

2013 Information Theory and Applications Workshop (ITA)

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Abstract-In applications such as telesurgery, it is required to transmit haptic signals to a remote location with a delay of at most few milliseconds. To reduce the packet rate and yet retain perceptual quality, adaptive sampling has been explored in the literature. In particular, in earlier work we proposed and analyzed an adaptive sampling scheme based on Weber's law of perception. In this paper, we explore other possible adaptive sampling candidates. We describe an experimental setup where users are subjected to piecewise constant haptic stimuli to which they can respond with a click. We record the clicks and ask the question: can we identify signal features and classiers to predict the clicks? The answer suggests adaptive sampling schemes that improve over Weber sampling.

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“…Softness represents one of the most fundamental haptic properties [58], which plays a crucial role for task accomplishment in many contexts, from handling fruit to complex medical procedures. However, looking at WHS in the literature, none of the proposed solutions are able to provide controllable softness information to the user and enable both active and passive touch experiences.…”

Section: W-fydmentioning

confidence: 99%

A Fabric-Based Approach for Wearable Haptics

Bianchi

2016

Electronics

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Abstract:In recent years, wearable haptic systems (WHS) have gained increasing attention as a novel and exciting paradigm for human-robot interaction (HRI). These systems can be worn by users, carried around, and integrated in their everyday lives, thus enabling a more natural manner to deliver tactile cues. At the same time, the design of these types of devices presents new issues: the challenge is the correct identification of design guidelines, with the two-fold goal of minimizing system encumbrance and increasing the effectiveness and naturalness of stimulus delivery. Fabrics can represent a viable solution to tackle these issues. They are specifically thought "to be worn", and could be the key ingredient to develop wearable haptic interfaces conceived for a more natural HRI. In this paper, the author will review some examples of fabric-based WHS that can be applied to different body locations, and elicit different haptic perceptions for different application fields. Perspective and future developments of this approach will be discussed.

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Cues for Haptic Perception of Compliance

Cited by 196 publications

References 16 publications

Soft Robotic Haptic Interface with Variable Stiffness for Rehabilitation of Neurologically Impaired Hand Function

Soft Robotic Haptic Interface with Variable Stiffness for Rehabilitation of Neurologically Impaired Hand Function

Can we improve over weber sampling of haptic signals?

A Fabric-Based Approach for Wearable Haptics

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