Lessons in using vibrotactile feedback to guide fast arm motions

Bark, Karlin; Khanna, Preeya; Irwin, Rikki; Kapur, Pulkit; Jax, Steven A.; Buxbaum, Laurel J.; Kuchenbecker, Katherine J.

doi:10.1109/whc.2011.5945512

Cited by 46 publications

(34 citation statements)

References 12 publications

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“…Similar results have been obtained in the examination of anterior-posterior trunk movements [31]. In the experiments on an arm guidance system for use in rehabilitation, no strong preference or performances differences between attractive and repulsive tactile feedback was found [32]. In contrast, the attractive mode proved to be more intuitive for initiating left and right wrist rotations [33]; in the wrist guidance in 2-D space, the "pull" approach (attractive) allows participants to perform better with respect to the "push" mapping (repulsive) [34].…”

supporting

confidence: 82%

An Experimental Setup to Test Dual-Joystick Directional Responses to Vibrotactile Stimuli

Scalera

Seriani

Gallina

et al. 2018

IEEE Trans. Haptics

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Abstract-In this paper we investigate the influence of the location of vibrotactile stimulation in triggering the response made using two handheld joysticks. In particular, we compare performance with stimuli delivered either using tactors placed on the palm or on the back of the hand and with attractive (move toward the vibration) or repulsive prompts (move away from the vibration). The experimental set-up comprised two joysticks and two gloves, each equipped with four pager motors along the cardinal directions. In different blocks, fifty-three volunteers were asked to move the joysticks as fast as possible either towards or away with respect to the direction specified by a set of vibrating motors. Results indicate that participants performed better with attractive prompts (i.e. responses were faster and with fewer errors in conditions where participants were asked to move the joysticks in the direction of the felt vibration) and that the stimulation delivered on the back of the hand from the gloves gives better results than the stimulation on the palm delivered by the joysticks. Finally, we analyse the laterality, the relation between correct responses and reaction times, the direction patterns for wrong responses and we perform an analysis on the Stimulus-Response Compatibility and on the training effect.

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supporting

confidence: 82%

An Experimental Setup to Test Dual-Joystick Directional Responses to Vibrotactile Stimuli

Scalera

Seriani

Gallina

et al. 2018

IEEE Trans. Haptics

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“…The development of meaningful vibrotactile feedback, as well as practical systems, is challenging (Bark et al, 2011;Rosenthal et al, 2011). Appropriate sites on the body for the vibrators must be found; for example, the vibration must be easy to perceive, and at the same time, the vibrators should not hinder movement.…”

Section: Vibrotactile Feedback Systems Need To Be Evaluated In Motor mentioning

confidence: 99%

Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review

et al. 2012

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It is generally accepted that augmented feedback, provided by a human expert or a technical display, effectively enhances motor learning. However, discussion of the way to most effectively provide augmented feedback has been controversial. Related studies have focused primarily on simple or artificial tasks enhanced by visual feedback. Recently, technical advances have made it possible also to investigate more complex, realistic motor tasks and to implement not only visual, but also auditory, haptic, or multimodal augmented feedback. The aim of this review is to address the potential of augmented unimodal and multimodal feedback in the framework of motor learning theories. The review addresses the reasons for the different impacts of feedback strategies within or between the visual, auditory, and haptic modalities and the challenges that need to be overcome to provide appropriate feedback in these modalities, either in isolation or in combination. Accordingly, the design criteria for successful visual, auditory, haptic, and multimodal feedback are elaborated.

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“…Visual and vibrotactile feedback (Bark et al, 2011) as well as kinesthetic feedback (Feygin et al, 2002) have been considered as means for improving performance in gesture guidance and learning. Haptic guidance has been widely explored in rehabilitation scenarios [e.g., Causo et al (2012)] and teaching of complex gestures (e.g., musical instrument playing) (Grindlay, 2006;Holland et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

Improving Precision in Navigating Laparoscopic Surgery Instruments toward a Planar Target Using Haptic and Visual Feedback

Howard

Szewczyk

2016

Front. Robot. AI

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The poor ergonomics of laparoscopic surgery is a widely recognized source of difficulty for surgeons, leading to sub-optimal performance on their part and sometimes injury to the patient. The main recognized causes for such degraded performance are lost and distorted perception of interaction forces and degraded instrument navigation capabilities. The latter, due mainly to losses in visual and kinesthetic depth perception and modified hand-eye coordination, can prevent precise navigation of instruments toward surgical targets or away from sensitive anatomic structures. This situation prompts us to explore novel methods for efficiently assisting the surgeon during intra-corporeal instrument navigation. Here, we present a series of experiments aimed at providing insights into the effectiveness of haptic (tactile and kinesthetic), visual, and combined feedback in assisting the navigation of a laparoscopic instrument tip toward a surgical target. We placed subjects in front of a laparoscopic trainer and tasked them with following various instrument tip trajectories within a target plane while minimizing both deviation from said target and task execution time. Feedback on the level of deviation was provided alternately through visual on-screen cues (in the form of a bar-graph), tactile cues provided by vibration motors (off the shelf DC eccentric rotating mass motors) placed in the subjects hand, and/or kinesthetic cues provided by a haptic interface (6 degrees-of-freedom Haption Virtuose 6D interface) co-manipulating the surgical instrument. Evaluations of these forms of feedback over two series of experiments involving a total of 35 subjects (34 non-surgeon novices, 1 surgeon intern with experience in laparoscopy) show positive impacts of providing such feedback on precision in instrument navigation, and provide insights into possibilities for implementation in surgical assistance systems. Visual, tactile, and combined cues lead to increased precision in navigation (up to 25% increase in time on target, and 32% reduction in deviation amplitudes), but usually at the cost of reduced task execution speed (mean task execution times almost doubled under provision of visual feedback). However, the use of kinesthetic feedback through soft virtual fixtures provided in a co-manipulated robot-assisted surgery set-up both significantly improved precision (32% increase in time on target, and 70% reduction in deviation amplitudes) and task execution speed (30% reduction in task completion times). Although tactile

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Lessons in using vibrotactile feedback to guide fast arm motions

Cited by 46 publications

References 12 publications

An Experimental Setup to Test Dual-Joystick Directional Responses to Vibrotactile Stimuli

An Experimental Setup to Test Dual-Joystick Directional Responses to Vibrotactile Stimuli

Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review

Improving Precision in Navigating Laparoscopic Surgery Instruments toward a Planar Target Using Haptic and Visual Feedback

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