Sensory substitution via cutaneous skin stretch feedback

Schorr, S; Quek, Zhan Fan; Romano, Robert Y.; Nisky, Ilana; Provancher, William R.; Okamura, Allison M.

doi:10.1109/icra.2013.6630894

Cited by 57 publications

(30 citation statements)

References 19 publications

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“…Constant k is thus referred to as "Weber's fraction". For example, Schorr et al [9] measured the ability of users to discriminate environment stiffness using varying levels of skin stretch at the finger pad. Results showed a mean Weber fractions of 0.168.…”

Section: Differential Thresholdsmentioning

confidence: 99%

“…Moreover, cutaneous haptic feedback provides an effective and elegant way to simplify the design of this type of haptic interfaces: skin receptors' very low activation thresholds [5], [6] enable researchers to design small, lightweight, and inexpensive cutaneous haptic interfaces [2], [7], [8]. Finally, cutaneous feedback has been also proven to play a key role in enhancing the performance and effectiveness of teleoperation and immersive systems [8], [9], [10], [11].…”

Section: Introductionmentioning

confidence: 96%

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The hRing: A wearable haptic device to avoid occlusions in hand tracking

Pacchierotti

Salvietti

Hussain

et al. 2016

2016 IEEE Haptics Symposium (HAPTICS)

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The wearable electronics business has powered over $14 billion in 2014 and it is estimated to power over $70 billion by 2024. However, commercially-available wearable devices still provide very limited haptic feedback, mainly focusing on vibrotactile sensations. Towards a more realistic feeling of interacting with virtual and remote objects, we propose a novel wearable cutaneous device for the proximal finger phalanx, called "hRing". It consists of two servo motors that move a belt placed in contact with the user's finger skin. When the motors spin in opposite directions, the belt presses into the user's finger, while when the motors spin in the same direction, the belt applies a shear force to the skin. Its positioning on the proximal finger phalanx improves the capability of this device to be used together with unobtrusive hand tracking systems, such as the LeapMotion controller and the Kinect sensor. The viability of the proposed approach is demonstrated through a pick-and-place experiment involving seven human subjects. Providing cutaneous feedback through the proposed device improved the performance and perceived effectiveness of the considered task of 20% and 47% with respect to not providing any force feedback, respectively. All subjects found no difference in the quality of the tracking when carrying out the task wearing the device versus barehanded

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Section: Differential Thresholdsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 96%

The hRing: A wearable haptic device to avoid occlusions in hand tracking

Pacchierotti

Salvietti

Hussain

et al. 2016

2016 IEEE Haptics Symposium (HAPTICS)

View full text Add to dashboard Cite

show abstract

“…Schorr et al [7], in order to evaluate the potential for skin stretch feedback to be used as a sensory substitute for kinesthetic feedback in robotic teleoperation systems, measured the ability of users to discriminate environment stiffness using varying levels of skin stretch at the finger pad. Results showed a mean Weber fractions of 0.168.…”

Section: B Differential Thresholdmentioning

confidence: 99%

“…Moreover, cutaneous feedback provides an effective and elegant way to simplify the design of this type of haptic interfaces: cutaneous receptors' very low activation thresholds [2] enable researchers to design small, lightweight and inexpensive cutaneous haptic interfaces [3], [4], [5]. Finally, cutaneous feedback has been also proven to play a key role in enhancing the performance and effectiveness of teleoperation and immersive systems [6], [7], [8], [9], [10].…”

Section: Introductionmentioning

confidence: 99%

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

Chinello

Pacchierotti

Tsagarakis

et al. 2016

2016 IEEE Haptics Symposium (HAPTICS)

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This paper presents a novel cutaneous device\ud capable of providing independent skin stretches at the palmar,\ud dorsal, ulnar, and radial sides of the arm. It consists of\ud a lightweight bracelet with four servo motors. Each motor\ud actuates a cylindrical shaped end-effector that is able to rotate,\ud generating skin stretch stimuli. To understand how to control\ud and wear the device on the forearm to evoke the most effective\ud cutaneous sensations, we carried out perceptual experiments\ud evaluating its absolute and differential thresholds. Finally, we\ud carried out an experiment of haptic navigation to assess the\ud effectiveness of our device as a navigation feedback system to\ud guide a desired rotation and translation of the forearm. Results\ud demonstrate an average rotation and translation error of 1.87○\ud and 2.84 mm, respectively. Moreover, all the subjects found our\ud device easy to wear and comfortable. Nine out of ten found it\ud effective in transmitting navigation information to the forearm

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“…They can be operated by motors [16], by dielectric elastomers [17], piezoelectrically [18] or pneumatically [19]. Nevertheless, there are also approaches for tactile feedback via shear forces (location-dependant friction [20] or mechanical skin stretch [21]). Feedback via vibration is already established in mobile devices with touch screens, but in the currently rather low stage of development this is not applicable for surgical input devices.…”

Section: Introductionmentioning

confidence: 99%