Customizing haptic and visual feedback for assistive human–robot interface and the effects on performance improvement

Yoon, Han Ul; Wang, Ranxiao F.; Hutchinson, Seth; Hur, Pilwon

doi:10.1016/j.robot.2017.01.015

Cited by 9 publications

(9 citation statements)

References 22 publications

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“…Comparing these results with literature, in [ 73 ] negative results were obtained when the user received feedback on a screen in a path-following task. Moreover, the study by [ 24 ] suggested that visual feedback on the joystick was better, even compared with haptic feedback.…”

Section: Results and Discussionsupporting

confidence: 64%

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Gomez-Vargas

et al. 2021

Sensors

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The constant growth of pathologies affecting human mobility has led to developing of different assistive devices to provide physical and cognitive assistance. Smart walkers are a particular type of these devices since they integrate navigation systems, path-following algorithms, and user interaction modules to ensure natural and intuitive interaction. Although these functionalities are often implemented in rehabilitation scenarios, there is a need to actively involve the healthcare professionals in the interaction loop while guaranteeing safety for them and patients. This work presents the validation of two visual feedback strategies for the teleoperation of a simulated robotic walker during an assisted navigation task. For this purpose, a group of 14 clinicians from the rehabilitation area formed the validation group. A simple path-following task was proposed, and the feedback strategies were assessed through the kinematic estimation error (KTE) and a usability survey. A KTE of 0.28 m was obtained for the feedback strategy on the joystick. Additionally, significant differences were found through a Mann–Whitney–Wilcoxon test for the perception of behavior and confidence towards the joystick according to the modes of interaction (p-values of 0.04 and 0.01, respectively). The use of visual feedback with this tool contributes to research areas such as remote management of therapies and monitoring rehabilitation of people’s mobility.

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Section: Results and Discussionsupporting

confidence: 64%

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Gomez-Vargas

et al. 2021

Sensors

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“…For example, auditory alertness helped enhance the driving performance whereas visual feedback alone did not (Wang et al, 2011 ). Even though multiple modalities can be useful in enhancing the driving performance, haptic modality can have more direct effects on the improvement since visual or auditory modalities are already heavily used while conducting the tasks (Scott and Gray, 2008 ; Wang et al, 2011 ; Yoon et al, 2017 ). In our study, other modalities, e.g., vision or audition, were not included than haptic modalities.…”

Section: Discussionmentioning

confidence: 99%

“…Namely,

κ_{δ^{⊥}}

determines how much portion of the non-preferred direction component in f is preserved (Bettini et al, 2004; Yoon et al, 2017). We also set a guidance zone by ν so that no guidance is provided if the deviation from γ is less than

\frac{d}{2} - ν

, which implies the power-wheelchair is well tracking the given γ by the rider's control.…”

Section: Methodsmentioning

confidence: 99%

“…Therefore, we can determine a skin-stretch direction to guide the rider, left-to-right or right-to-left, by rotating the actuator of the skin-stretcher clockwise/counter-clockwise. The details of our guidance algorithm also can be found in Yoon et al ( 2017 ).…”

Section: Methodsmentioning

confidence: 99%

“…Among the types of the introduced augmented sensory feedback, haptic feedback is the one that can deliver tangible feedbacks, e.g., force, stretch, or vibration, to users' body parts. A haptic lever is one of the most commonly-used interfaces providing a force feedback to attract the user toward the safer or the desired directions while driving a power-wheelchair (Crespo and Reinkensmeyer, 2008 ; Marchal-Crespo et al, 2010a ; Yoon et al, 2017 ) or assisting target-pointing/hitting tasks (Powell and O'Malley, 2012 ; Fisher et al, 2015 ; Patton and Huang, 2016 ). Vibrators or skin-stretchers have also been used to provide tactile stimulations for postural sway improvement (Gopalai and Senanayake, 2011 ; Pan and Hur, 2016 ; Pan et al, 2017 ), trunk sway improvement (Davis et al, 2010 ; Lee et al, 2012 ), target acquisition and pointing (Bark et al, 2010 ; Hsieh et al, 2014 ; Kaul and Rohs, 2016 ), balance training (Spelmezan et al, 2009 ; Nanhoe-Mahabier et al, 2012 ), gait function learning (Shull et al, 2011 ; Sienko et al, 2013 ).…”

Section: Introductionmentioning

confidence: 99%

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Synergistic Effects on the Elderly People's Motor Control by Wearable Skin-Stretch Device Combined with Haptic Joystick

2017

Self Cite

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Cutaneous sensory feedback can be used to provide additional sensory cues to a person performing a motor task where vision is a dominant feedback signal. A haptic joystick has been widely used to guide a user by providing force feedback. However, the benefit of providing force feedback is still debatable due to performance dependency on factors such as the user's skill-level, task difficulty. Meanwhile, recent studies have shown the feasibility of improving a motor task performance by providing skin-stretch feedback. Therefore, a combination of two aforementioned feedback types is deemed to be promising to promote synergistic effects to consistently improve the person's motor performance. In this study, we aimed at identifying the effect of the combined haptic and skin-stretch feedbacks on the aged person's driving motor performance. For the experiment, 15 healthy elderly subjects (age 72.8 ± 6.6 years) were recruited and were instructed to drive a virtual power-wheelchair through four different courses with obstacles. Four augmented sensory feedback conditions were tested: no feedback, force feedback, skin-stretch feedback, and a combination of both force and skin-stretch feedbacks. While the haptic force was provided to the hand by the joystick, the skin-stretch was provided to the steering forearm by a custom-designed wearable skin-stretch device. We tested two hypotheses: (i) an elderly individual's motor control would benefit from receiving information about a desired trajectory from multiple sensory feedback sources, and (ii) the benefit does not depend on task difficulty. Various metrics related to skills and safety were used to evaluate the control performance. Repeated measure ANOVA was performed for those metrics with two factors: task scenario and the type of the augmented sensory feedback. The results revealed that elderly subjects' control performance significantly improved when the combined feedback of both haptic force and skin-stretch feedback was applied. The proposed approach suggest the feasibility to improve people's task performance by the synergistic effects of multiple augmented sensory feedback modalities.

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Delay-Dependent Stability Analysis in Haptic Rendering

Mashayekhi

Behbahani

Ficuciello

et al. 2019

J Intell Robot Syst

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Customizing haptic and visual feedback for assistive human–robot interface and the effects on performance improvement

Cited by 9 publications

References 22 publications

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Synergistic Effects on the Elderly People's Motor Control by Wearable Skin-Stretch Device Combined with Haptic Joystick

Delay-Dependent Stability Analysis in Haptic Rendering

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