HapticSerpent

Al-Sada, Mohammed; Jiang, Keren; Ranade, Shubhankar; Piao, Xinlei; Höglund, Thomas; Nakajima, Tatsuo

doi:10.1145/3170427.3188518

Cited by 21 publications

(3 citation statements)

References 5 publications

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“…Lastly, we extracted design considerations and discussed limitations and future research based on our work. This paper expands our brief report (Al-Sada et al 2018) through extended robot design, analysis, implementations and evaluations.…”

Section: Introductionmentioning

confidence: 89%

HapticSnakes: multi-haptic feedback wearable robots for immersive virtual reality

et al. 2019

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Haptic feedback plays a large role in enhancing immersion and presence in VR. However, previous research and commercial products have limitations in terms of variety and locations of delivered feedbacks. To address these challenges, we present HapticSnakes, which are snake-like waist-worn robots that can deliver multiple types of feedback in various body locations, including taps-, gestures-, airflow-, brushing- and gripper-based feedbacks. We developed two robots, one is lightweight and suitable for taps and gestures, while the other is capable of multiple types of feedback. We presented a design space based on our implementations and conducted two evaluations. Since taps are versatile, easy to deliver and largely unexplored, our first evaluation focused on distinguishability of tap strengths and locations on the front and back torso. Participants had highest accuracy in distinguishing feedback on the uppermost regions and had superior overall accuracy in distinguishing feedback strengths over locations. Our second user study investigated HapticSnakes’ ability to deliver multiple feedback types within VR experiences, as well as users’ impressions of wearing our robots and receiving novel feedback in VR. The results indicate that participants had distinct preferences for feedbacks and were in favor of using our robots throughout. Based on the results of our evaluations, we extract design considerations and discuss research challenges and opportunities for developing multi-haptic feedback robots.

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Section: Introductionmentioning

confidence: 89%

HapticSnakes: multi-haptic feedback wearable robots for immersive virtual reality

et al. 2019

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“…The case had a parallelepiped shape to maximize the contact surface with the body, a cylindrical hole that held the vibrator motor tightly, avoiding any vibration waste inside the case, and a small hole to tighten the cable. The vibrotactile stimulator was placed on the bicep of the preferred arm (see Figure 1c), according to [32], which demonstrated a high tactile acuity in this region. On the display placed in front of the user, a GUI, shown in Figure 2a-c, provided the user with the task instructions (i.e., to exert with the SRA the amount of force highlighted on the monitor), together with a bar displaying the norm of the forces measured at the end-effector through the sensor.…”

Section: Methodsmentioning

confidence: 99%

Effect of Vibrotactile Feedback on the Control of the Interaction Force of a Supernumerary Robotic Arm

Buratti,

Deiana,

Noccaro

et al. 2023

Machines

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Supernumerary robotic limbs are mainly designed to augment the physical capabilities of able-bodied individuals, in a wide range of contexts from body support to surgery. When they are worn as wearable devices, they naturally provide inherent feedback due to the mechanical coupling with the human body. The user can, thus, perceive the interaction with the environment by relying on a combination of visual and inherent feedback. However, these can be inefficient in accomplishing complex tasks, particularly in the case of visual occlusion or variation in the environment stiffness. Here, we investigated whether, in a force-regulation task using a wearable supernumerary robotic arm (SRA), additional vibrotactile feedback can increase the control performance of participants compared to the inherent feedback. Additionally, to make the scenario more realistic, we introduced variations in the SRA’s kinematic posture and in the environment stiffness. Notably, our findings revealed a statistically significant improvement in user performance over all the evaluated metrics while receiving additional vibrotactile feedback. Compared to inherent feedback alone, the additional vibrotactile feedback allowed participants to exert the required force faster (p < 0.01), to maintain it for longer (p < 0.001), and with lower errors (p < 0.001). No discernible effects related to the SRA’s posture or environment stiffness were observed. These results proved the benefits of providing the user with additional vibrotactile feedback to convey the SRA’s force during interaction tasks.

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“…Common applications where haptics plays a crucial role are telepresence, telerobotics, healthcare, assembly and disassembly in manufacturing and the entertainment industry [1]- [3]. In recent years, researchers have developed wearable devices capable of providing vibration, touch, force and temperature feedback to the human hands and fingers based on the advances in sensor technology, materials and electronics [4]- [7].…”

Section: Introductionmentioning

confidence: 99%

Wearable fingertip with touch, sliding and vibration feedback for immersive virtual reality

Martinez-Hernandez

2022

2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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HapticSerpent

Cited by 21 publications

References 5 publications

HapticSnakes: multi-haptic feedback wearable robots for immersive virtual reality

HapticSnakes: multi-haptic feedback wearable robots for immersive virtual reality

Effect of Vibrotactile Feedback on the Control of the Interaction Force of a Supernumerary Robotic Arm

Wearable fingertip with touch, sliding and vibration feedback for immersive virtual reality

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