Design of a wearable skin stretch cutaneous device for the upper limb

Chinello, Francesco; Pacchierotti, Claudio; Tsagarakis, Nikos G.; Prattichizzo, Domenico

doi:10.1109/haptics.2016.7463149

Cited by 43 publications

(24 citation statements)

References 30 publications

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“…The average JND was calculated by finding individual JNDs and then averaging them together. The device showed a differential threshold at the 75% level of 33.2% and 24.7% of the standard stimulus for the skin stretch and squeeze, respectively, which is in agreement with previous results in the literature [14], [17].…”

Section: Differential Thresholdssupporting

confidence: 82%

“…Scheggi et al [4] presented a cooperative human-robot navigation system in which vibrotactile armbands provide the human wearer with information about the motion of a mobile robot, keeping the two agents in a soft formation. Chinello et al [14] used four pulleys, worn evenly around the arm, to provide skin stretch at the palmar, dorsal, ulnar, and radial sides of the arm. Within this context, this paper discusses a novel wearable haptic device and its evaluation in robotic teleoperation.…”

Section: Introductionmentioning

confidence: 99%

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Design and Evaluation of a Wearable Haptic Device for Skin Stretch, Pressure, and Vibrotactile Stimuli

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Giordano

et al. 2018

IEEE Robot. Autom. Lett.

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Abstract-This paper presents a wearable haptic device for the forearm and its application in robotic teleoperation. The device is able to provide skin stretch, pressure, and vibrotactile stimuli. Two servo motors, housed in a 3D printed lightweight platform, actuate an elastic fabric belt, wrapped around the arm. When the two servo motors rotate in opposite directions, the belt is tightened (or loosened), thereby compressing (or decompressing) the arm. On the other hand, when the two motors rotate in the same direction, the belt applies a shear force to the arm skin. Moreover, the belt houses four vibrotactile motors, positioned evenly around the arm at 90 degrees from each other. The device weights 220 g for 115×122×50 mm of dimensions, making it wearable and unobtrusive. We carried out a perceptual characterization of the device as well as two human-subjects teleoperation experiments in a virtual environment, employing a total of 34 subjects. In the first experiment, participants were asked to control the motion of a robotic manipulator for grasping an object; in the second experiment, participants were asked to teleoperate the motion of a quadrotor fleet along a given path. In both scenarios, the wearable haptic device provided feedback information about the status of the slave robot(s) and of the given task. Results showed the effectiveness of the proposed device. Performance on completion time, length trajectory, and perceived effectiveness when using the wearable device improved of 19.8%, 25.1%, and 149.1% than when wearing no device, respectively. Finally, all subjects but three preferred the conditions including wearable haptics.

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Section: Differential Thresholdssupporting

confidence: 82%

Section: Introductionmentioning

confidence: 99%

Design and Evaluation of a Wearable Haptic Device for Skin Stretch, Pressure, and Vibrotactile Stimuli

Aggravi

Pausé

Giordano

et al. 2018

IEEE Robot. Autom. Lett.

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“…During skin stretch, the surface of the haptic device imparts a shear force on the user's skin to excite its mechanoreceptors. By stretching the skin tangentially, skin-stretch feedback can give directional information to the user [23]. A study by Norman et al demonstrates the effectiveness of a simple fingerpad skin stretch device to guide a user's arm via haptic cues and real-time corrective feedback [24].…”

Section: Introductionmentioning

confidence: 99%

A pilot study on locomotion training via biomechanical models and a wearable haptic feedback system

Demircan

2020

Robomech J

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Locomotion is a fundamental human skill. Real-time sensing and feedback is a promising strategy for motion training to reconstruct healthy locomotion patterns lost due to aging or disease, and to prevent injuries. In this paper, we present a pilot study on locomotion training via biomechanical modeling and a wearable haptic feedback system. In addition, a novel simulation framework for motion tracking and analysis is introduced. This unified framework, implemented within the Unity environment, is used to analyze subject's baseline and performance characteristics, and to provide real-time haptic feedback during locomotion. The framework incorporates accurate musculoskeletal models derived from OpenSim, closed-form calculations of muscle routing kinematics and kinematic Jacobian matrices, dynamic performance metrics (i.e., muscular effort), human motion reconstruction via inertial measurement unit (IMU) sensors, and real-time visualization of the motion and its dynamics. A pilot study was conducted in which 6 healthy subjects learned to alter running patterns to lower the knee flexion moment (KFM) through haptic feedback. We targeted three gait parameters (trunk lean, cadence, and foot strike) that previous studies had identified as having an influence on reducing the knee flexion moment and associated with increased risk of running injuries. All subjects were able to adopt altered running patterns requiring simultaneous changes to these kinematic parameters and reduced their KFM to 30-85% of their baseline values. The muscular effort during motion training stayed comparable to subjects' baseline. This study shows that biomechanical modeling, together with real-time sensing and wearable haptic feedback can greatly increase the efficiency of motion training.

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“…Within human-computer interaction, there are numerous examples of tactile devices, each one focused on different aspects of touch, such as: the Maglev levitation haptic interface [2], applying a 6 DOF feedback force; the HapTip [6] and the Skin Stretch Haptic Device [4], using shear force; the Dexmo exoskeleton [7], interacting with the kinesthetic of the hand; and the UltraHaptics mid-air haptic device [3], which employs high frequency mid-air vibrations to create touchless interaction.…”

Section: Relevance Of Tactile Illusionsmentioning

confidence: 99%

Hand-to-hand: an intermanual illusion of movement

Pittera

Obrist

Israr

2017

Proceedings of the 19th ACM International Conference on Multimodal Interaction

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Apparent tactile motion has been shown to occur across many contiguous part of the body, such as fingers, forearms, and back. A recent study demonstrated the possibility of eliciting the illusion of movement from one hand to the other when interconnected by a tablet. In this paper we explore intermanual apparent tactile motion without any object between them. In a series of psychophysical experiments we determine the control space for generating smooth and consistent motion, using two vibrating handles which we refer to as the Hand-to-Hand vibrotactile device. In a first experiment we investigated the occurrence of the phenomenon (i.e., movement illusion) and the generation of a perceptive model. In a second experiment, based on those results, we investigated the effect of hand postures on the illusion. Finally, in a third experiment we explored two visuo-tactile matching tasks in a multimodal VR setting. Our results can be applied in VR applications with intermanual tactile interactions.

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Design of a wearable skin stretch cutaneous device for the upper limb

Cited by 43 publications

References 30 publications

Design and Evaluation of a Wearable Haptic Device for Skin Stretch, Pressure, and Vibrotactile Stimuli

Design and Evaluation of a Wearable Haptic Device for Skin Stretch, Pressure, and Vibrotactile Stimuli

A pilot study on locomotion training via biomechanical models and a wearable haptic feedback system

Hand-to-hand: an intermanual illusion of movement

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