Journal articles on the topic 'Wearable Haptics, Haptic Communication'

The past two decades have seen significant advances in how users interact with machines. Yet nowadays, people are increasingly paying attention to developing new control terminals and interfaces regarding communication between humans and robots, special equipment, or the virtual world. Wearable haptic interfaces offer more comfortable and realistic interactive experiences in human-machine touch and satisfy people’s needs beyond simply controlling objects. They are now applied in various areas, including health, education, virtual reality, object detection, etc... The passage briefly introduces some familiar wearable haptic interfaces, including hand-worn, vest-worn, and foot-worn devices. And then the advantages and disadvantages of the mentioned wearable devices will also be discussed. This passage will provide an overview of the current technology in wearable haptic interfaces and help people understand the strengths and weaknesses of the devices for different body parts.

When the flight of an unmanned aerial vehicle is controlled by a ground pilot, a wing deflection monitoring is required to avoid overload wing structural failures. Therefore, integrated structural health monitoring technologies are being developed to transfer such information to the pilot. In general, this information can be monitored visually by the ground pilot. In this study, a haptic interface enables human–machine communication through tactile sense and provides synchronized information exchange between a pilot and an unmanned aerial vehicle. In other words, we propose not a vision interface but a haptic interface to transfer the wing deflection information to the ground pilot; this interface is named “Fly-by-haptic,” which is beneficial because the vision of the ground pilot is already performing multiple tasks. For a proof of concept, four integrated fiber Bragg grating sensors were installed on a half wing specimen to measure dynamic strains. The wing deflection information was estimated by the displacement–strain transformation matrix. The wing deflection information was wirelessly transferred to actuate vibro-haptic motors installed in a pilot arm–wearable haptic interface. Finally, a human test was performed using the developed haptic interface; the test results determined that the 15 participants, who are novices, showed 100% accuracy for wing deflection.

Wearable haptic garments for communicating emotions have great potential in various applications, including supporting social interactions, improving immersive experiences in entertainment, or simply as a research tool. Shape-memory alloys (SMAs) are an emerging and interesting actuation scheme for affective haptic garments since they provide coupled warmth and compressive sensations in a single actuation---potentially acting as a proxy for human touch. However, SMAs are underutilized in current research and there are many unknowns regarding their design/use. The goal of this work is to map the design space for SMA-based garment-mediated emotional communication through warm, compressive actuation (termed 'warm touch'). Two online surveys were deployed to gather user expectations in using varying 'warm touch' parameters (body location, intensity, pattern) to communicate 7 distinct emotions. Further, we also investigated mental models used by participants during the haptic strategy selection process. The findings show 5 major categories of mental models, including representation of body sensations, replication of typical social touch strategies, metaphorical representation of emotions, symbolic representation of physical actions, and mimicry of objects or tasks; the frequency of use of each of these mental frameworks in relation to the selected 'warm touch' parameters in the communication of emotions are presented. These gathered insights can inform more intuitive and consistent haptic garment design approaches for emotional communication.

Human–machine interaction (HMI) refers to systems enabling communication between machines and humans. Systems for human–machine interfaces have advanced significantly in terms of materials, device design, and production methods. Energy supply units, logic circuits, sensors, and data storage units must be flexible, stretchable, undetectable, biocompatible, and self-healing to act as human–machine interfaces. This paper discusses the technologies for providing different haptic feedback of different natures. Notably, the physiological mechanisms behind touch perception are reported, along with a classification of the main haptic interfaces. Afterward, a comprehensive overview of wearable haptic interfaces is presented, comparing them in terms of cost, the number of integrated actuators and sensors, their main haptic feedback typology, and their future application. Additionally, a review of sensing systems that use haptic feedback technologies—specifically, smart gloves—is given by going through their fundamental technological specifications and key design requirements. Furthermore, useful insights related to the design of the next-generation HMI devices are reported. Lastly, a novel smart glove based on thin and conformable AlN (aluminum nitride) piezoelectric sensors is demonstrated. Specifically, the device acquires and processes the signal from the piezo sensors to classify performed gestures through an onboard machine learning (ML) algorithm. Then, the design and testing of the electronic conditioning section of AlN-based sensors integrated into the smart glove are shown. Finally, the architecture of a wearable visual-tactile recognition system is presented, combining visual data acquired by a micro-camera mounted on the user’s glass with the haptic ones provided by the piezoelectric sensors.

Recently, remote meetings and work-from-home have become more common, reducing the opportunities for face-to-face communication. To facilitate communication among remote workers, researchers have focused on virtual space technology and spatial augmented reality technology. Although these technologies can enhance immersiveness in collaborative work, they face the challenge of fostering a sense of physical contact. In this work, we aimed to foster a sense of presence through haptic stimulation using pneumatic actuators. Specifically, we developed a choker-type wearable device that presents various pressure patterns around the neck; the pattern presented depends on the message the device must convey. Various combinations of haptic presentation are achieved by pumping air to the multiple pneumatic actuators attached to the choker. In addition, we conducted experiments involving actuators of different shapes to optimize the haptic presentation. When linked with a smartphone, the proposed device can present pressure patterns to indicate incoming calls and notifications, to give warning about an obstacle that one who is texting might miss while walking, and to provide direction to a pedestrian. Furthermore, the device can be used in a wide range of applications, from those necessary in daily living to those that enhance one’s experience in the realm of entertainment. For example, haptic feedback that synchronizes with the presence of a singer or with the rhythm of a song one listens to or with a performer’s movements during a stage performance will immerse users in an enjoyable experience.

We present and evaluate the concept of FeelMusic and evaluate an implementation of it. It is an augmentation of music through the haptic translation of core musical elements. Music and touch are intrinsic modes of affective communication that are physically sensed. By projecting musical features such as rhythm and melody into the haptic domain, we can explore and enrich this embodied sensation; hence, we investigated audio-tactile mappings that successfully render emotive qualities. We began by investigating the affective qualities of vibrotactile stimuli through a psychophysical study with 20 participants using the circumplex model of affect. We found positive correlations between vibration frequency and arousal across participants, but correlations with valence were specific to the individual. We then developed novel FeelMusic mappings by translating key features of music samples and implementing them with “Pump-and-Vibe”, a wearable interface utilising fluidic actuation and vibration to generate dynamic haptic sensations. We conducted a preliminary investigation to evaluate the FeelMusic mappings by gathering 20 participants’ responses to the musical, tactile and combined stimuli, using valence ratings and descriptive words from Hevner’s adjective circle to measure affect. These mappings, and new tactile compositions, validated that FeelMusic interfaces have the potential to enrich musical experiences and be a means of affective communication in their own right. FeelMusic is a tangible realisation of the expression “feel the music”, enriching our musical experiences.

This paper presents a dual-function wearable device (Tacsac) with capacitive tactile sensing and integrated tactile feedback capability to enable communication among deafblind people. Tacsac has a skin contactor which enhances localized vibrotactile stimulation of the skin as a means of feedback to the user. It comprises two main modules—the touch-sensing module and the vibrotactile module; both stacked and integrated as a single device. The vibrotactile module is an electromagnetic actuator that employs a flexible coil and a permanent magnet assembled in soft poly (dimethylsiloxane) (PDMS), while the touch-sensing module is a planar capacitive metal-insulator-metal (MIM) structure. The flexible coil was fabricated on a 50 µm polyimide (PI) sheet using Lithographie Galvanoformung Abformung (LIGA) micromoulding technique. The Tacsac device has been tested for independent sensing and actuation as well as dual sensing-actuation mode. The measured vibration profiles of the actuator showed a synchronous response to external stimulus for a wide range of frequencies (10 Hz to 200 Hz) within the perceivable tactile frequency thresholds of the human hand. The resonance vibration frequency of the actuator is in the range of 60–70 Hz with an observed maximum off-plane displacement of 0.377 mm at coil current of 180 mA. The capacitive touch-sensitive layer was able to respond to touch with minimal noise both when actuator vibration is ON and OFF. A mobile application was also developed to demonstrate the application of Tacsac for communication between deafblind person wearing the device and a mobile phone user who is not deafblind. This advances existing tactile displays by providing efficient two-way communication through the use of a single device for both localized haptic feedback and touch-sensing.

For thousands of years, dogs have coexisted with humans and have been adopted as companion pets and working animals. The communication between humans and dogs has improved their coexistence and socialization; however, due to the nature of their activities, dogs and humans occasionally lose face-to-face contact. The purpose of this scoping review is to examine five essential aspects of current technology designed to support intentional communication between humans and dogs in scenarios where there is no face-to-face contact: (1) the technologies used, (2) the activity supported, (3) the interaction modality, (4) the evaluation procedures, and the results obtained, and (5) the main limitations. In addition, this article explores future directions for research and practice. The PRISMA-ScR (Preferred Reporting Items for Systematic Reviews and Meta-Analyses extension for Scoping Reviews) guidelines were followed when conducting the review. Scopus (Elsevier), Springer-Link, IEEE Xplorer, ACM Digital Library, and Science Direct were used as data sources to retrieve information from January 2010 to March 2022. The titles and abstracts were individually reviewed by the authors (L.R.-V., I.E.E.-C., and H.P.-E.), and the full articles were then examined before a final inclusion determination. 15 (3%) out of the 571 records that were obtained met the requirements for inclusion. The most used technologies for dogs are: (1) 71% of technologies focused on generating messages are wearable devices equipped with sensors (bite, tug, or gesture), (2) 60% of technologies focused on receiving messages are wearable devices equipped with vibrotactile actuators, and (3) 100% of technologies focused on bidirectional communication are videochats. 67% of the works are oriented to support search and assistance tasks. 80% of the works developed technology for one-way communication. 53% of the technologies have a haptic dog interaction modality, that is, there is an object that the dog must wear or manipulate in a certain way. All of the reported evaluations were pilot studies with positive feasibility results. Remote human-dog interaction technology holds significant promise and potential; however, more research is required to assess their usability and efficacy and to incorporate new technological developments.

Abstract Individuals often experience incidental device-delivered haptic feedback (e.g., vibrational alerts accompanying messages on mobile phones and wearables), yet almost no research has examined the psychological and behavioral implications of technology-mediated touch on consumers. Drawing from theories in social psychology and computer science, we explore how device-delivered haptic feedback may have the capability to augment consumer responses to certain consumer-directed communications. Across four studies, we find that haptic alerts accompanying messages can improve consumer performance on related tasks and demonstrate that this effect is driven by an increased sense of social presence in what can otherwise feel like an impersonal technological exchange. These findings provide applied value for mobile marketers and gadget designers, and carry important implications for consumer compliance in health and fitness domains.

In an attempt to help make humans into more efficient and effective information processors, the engineers of mobile communication systems and devices have turned to touch as an alternative pathway for the transmission of communicative messages. This article traces the goal of using touch as a way to speed up communication from the 1950s experiments with military systems for haptic communication to the launch of the Apple Watch in 2015. Using these two technological milieus as bookends for analyzing the co-constitutive relationship between tactility and temporality, we argue that the ever-accelerating pace of human communication – as seen in the attempts at reducing the latency between sender and receiver through haptic communication – produces bodies that are always on and attentive. Ultimately, the disciplining of time and touch is aimed at the production of neoliberal bodies and information subjects whose skin is utilized as an open channel for attention, communication, and labor. However, as we show by examining the persistence of phantom vibrations and the stalled development of Immersion Corporation’s Instinctive Alerts Framework for wearables, the repeated failures of users to properly recognize and differentiate between machine-generated haptic sensations suggest that this attempted transformation of touch into a communicative sense has persistently fallen short of its disciplining aims.

This paper describes research towards understanding haptic communication during planar object manipulation. In particular, a classification algorithm that classifies four stages of manipulation of a planar object is described. This research was performed as a part of a broader research project which has the goal of developing a user-friendly communication interface for an elderly-assistive robot. The manipulation of planar object was studied in detail as it happened very frequently during user study involving a caregiver helping an elderly person with the activities of daily living. For observing human haptic interaction, a sensory glove was developed. Further data collection was conducted in the laboratory setting and data was analyzed using various machine learning techniques. Based on this analysis, decision rules were derived that give insight into human-to-human collaborative manipulation of planar objects and successfully identified several classes of manipulative actions. The developed decision tree-based algorithm was then tested on the data of a user study that involved a caregiver assisting an elderly person in the activities of daily living. The developed algorithm also successfully classifies manipulation actions in real-time. This information is particularly interesting as it does not depend on any particular sensor and thus can be used by other researchers to further study haptic communication.

The sense of touch is an important means of communicating and exchanging information primarily between people and between people and the environment, from the very first years of life. Nowadays, researches and technology advances in different domains make use of touch, man-computer communication and interaction throughout immersive simulation environments being also facilitated and enhanced by the kinesthetic technology. The importance of haptic feedback for different applications is already a proved fact. However, it is still underrepresented in the everyday computer interfaces, mainly due to a current unfavourable compromise between price and user’s experience quality. That is, even if many haptic devices are available, they are either prohibitive in term of price, if provide high quality, or they are inexpensive and offer low realism haptic effects. Currently, there is no real intermediate device, and no device that can provide hardware upgrade according to users’ needs. In this context, this paper provides an analysis of existing haptic equipment, both prototypes and commercially available devices, and presents different approaches used in haptic-based scenarios. On this basis, a critical set of requirements for a new type of haptic device are inferred. It could represent an innovative and affordable solution for a larger range of potential users: engineers, physicists, trainers, designers, researchers, as well as hobbyists.

Recent technological development has led to the invention of different designs of haptic devices, electromechanical devices that mediate communication between the user and the computer and allow users to manipulate objects in a virtual environment while receiving tactile feedback. The main criteria behind providing an interactive interface are to generate kinesthetic feedback and relay information actively from the haptic device. Sensors and feedback control apparatus are of paramount importance in designing and manufacturing a haptic device. In general, haptic technology can be implemented in different applications such as gaming, teleoperation, medical surgeries, augmented reality (AR), and virtual reality (VR) devices. This paper classifies the application of haptic devices based on the construction and functionality in various fields, followed by addressing major limitations related to haptics technology and discussing prospects of this technology.

Nowadays, Augmented-Reality (AR) head-mounted displays (HMD) deliver a more immersive visualization of virtual contents, but the available means of interaction, mainly based on gesture and/or voice, are yet limited and obviously lack realism and expressivity when compared to traditional physical means. In this sense, the integration of haptics within AR may help to deliver an enriched experience, while facilitating the performance of specific actions, such as repositioning or resizing tasks, that are still dependent on the user’s skills. In this direction, this paper gathers the description of a flexible architecture designed to deploy haptically enabled AR applications both for mobile and wearable visualization devices. The haptic feedback may be generated through a variety of devices (e.g., wearable, graspable, or mid-air ones), and the architecture facilitates handling the specificity of each. For this reason, within the paper, it is discussed how to generate a haptic representation of a 3D digital object depending on the application and the target device. Additionally, the paper includes an analysis of practical, relevant issues that arise when setting up a system to work with specific devices like HMD (e.g., HoloLens) and mid-air haptic devices (e.g., Ultrahaptics), such as the alignment between the real world and the virtual one. The architecture applicability is demonstrated through the implementation of two applications: (a) Form Inspector and (b) Simon Game, built for HoloLens and iOS mobile phones for visualization and for UHK for mid-air haptics delivery. These applications have been used to explore with nine users the efficiency, meaningfulness, and usefulness of mid-air haptics for form perception, object resizing, and push interaction tasks. Results show that, although mobile interaction is preferred when this option is available, haptics turn out to be more meaningful in identifying shapes when compared to what users initially expect and in contributing to the execution of resizing tasks. Moreover, this preliminary user study reveals some design issues when working with haptic AR. For example, users may be expecting a tailored interface metaphor, not necessarily inspired in natural interaction. This has been the case of our proposal of virtual pressable buttons, built mimicking real buttons by using haptics, but differently interpreted by the study participants.

We often interact with our environment through manual handling of objects and exploration of their properties. Object properties (OP), such as texture, stiffness, size, shape, temperature, weight, and orientation provide necessary information to successfully perform interactions. The human haptic perception system plays a key role in this. As virtual reality (VR) has been a growing field of interest with many applications, adding haptic feedback to virtual experiences is another step towards more realistic virtual interactions. However, integrating haptics in a realistic manner, requires complex technological solutions and actual user-testing in virtual environments (VEs) for verification. This review provides a comprehensive overview of recent wearable haptic devices (HDs) categorized by the OP exploration for which they have been verified in a VE. We found 13 studies which specifically addressed user-testing of wearable HDs in healthy subjects. We map and discuss the different technological solutions for different OP exploration which are useful for the design of future haptic object interactions in VR, and provide future recommendations.

Haptic technology again receives extensive attentions recently by virtue of improvement on Internet Technology. This paper presents an applicable platform for Haptics by employing physical features of sense-of-touch through electromechanical devices and the latest attractive HTML standard specified by W3C, aims at offering new attributes and reliable communications with the ease of use for web content. In addition, the proposed platform demonstrates its significance on wrapping up fundamental rendering methodologies including Haptics and web graphical content, is a step forward in supporting study of all fields related to web-based interactive content (e.g., Haptics researchers, physicists, software engineers, and web designers). Finally, we provide a conceptual example of proposed platform and prove its proficiency on haptic data communication. The results of the experimental evaluations highlight the effectiveness, stableness, affordance and extensibility for future research.

This chapter sets about to provide the background and orientation needed to set a novice designer on his or her way to bringing haptics successfully into an interactive product. To define appropriate roles for haptic interaction, it is necessary to integrate a basic awareness of human capabilities on one hand and current device technology on the other. Here, I explore this integration by first summarizing the most salient constraints imposed by both humans and hardware. I then proceed to relate perceptual, motor, and attentional capabilities to a selection of emerging application contexts chosen to be relevant to contemporary design trends and opportunities. These include abstract communication and notification, augmentation of graphical user interfaces, expressive control, affective communication, and mobile and handheld computing.

In this article, we argue for the urgency of establishing a coherent tradition of haptic media studies, suggesting that the fields of visual culture studies and sound studies provide analogs, however imperfect, for modeling a new touch-oriented approach to media. This call to make touch like the senses of seeing and hearing echoes previous movements in touch’s discursive and institutional history, as investigators in prior generations similarly aspired to transform tactility through the development of new institutionally grounded research programs. Furthermore, we outline one possible genealogy of haptic media that attends specifically to the power relations expressed through the technoscientific harnessing of touch by haptics. We close with a programmatic set of suggestions for operationalizing haptic media studies.

Haptics as a communication medium has been increasingly emphasized across various disciplines. Recent efforts have focused on developing various haptic stimulation technologies; however, most of them suffer from critical drawbacks stemming from their bulk, complexity, large power input, or high cost. Here, we describe a strategy to design portable and affordable refreshable haptic interfaces composed of an array of individually addressable and controllable liquid pouch motor-based haptic units embedded in either rigid or flexible substrates for different application contexts. The pouch motor filled with low boiling fluid, under a controlled manner, expands or contracts by Joule heating or cooling, enabling the haptic pin in contact to be protruded or retracted. Programming the actuation sequence of an array of haptic units enables the haptic interface to apply different stimuli to the skin to convey corresponding information. We finally demonstrate the applications to portable rigid braille displays and flexible epidermal VR devices. This study opens the avenue to the design of ubiquitous refreshable haptic interfaces that is portable, affordable, scalable, and uninjurious.

This document presents a systematic review of Multimodal Human–Computer Interaction. It shows how different types of interaction technologies (virtual reality (VR) and augmented reality, force and vibration feedback devices (haptics), and tracking) are used in different domains (concepts, medicine, physics, human factors/user experience design, transportation, cultural heritage, and industry). A systematic literature search was conducted identifying 406 articles initially. From these articles, we selected 112 research works that we consider most relevant for the content of this article. The articles were analyzed in-depth from the viewpoint of temporal patterns, frequency of usage in types of technology in different domains, and cluster analysis. The analysis allowed us to answer relevant questions in searching for the next steps in work related to multimodal HCI. We looked at the typical technology type, how the technology type and frequency have changed in time over each domain, and how papers are grouped across metrics given their similarities. This analysis determined that VR and haptics are the most widely used in all domains. While VR is the most used, haptic interaction is presented in an increasing number of applications, suggesting future work on applications that configure VR and haptic together.

This paper reviews several interrelated experiments related to the improvement of systems by which to perform simple surgical procedures remotely using closed circuit video/audio and telerobotic manipulator devices over ISDN telephone communication channels. The realities of such technology include the existence of several second time delays, severe constraints on feedback bandwidth, and the lack of some desirable degrees of freedom for manipulation. Experiments were done to determine what sensory-motor tasks should be performed by the surgeon directly in a master-slave mode with haptic (position-force) feedback, what tasks should be programmed into and subsequently performed by a computer at the site of the patient, and what tasks should be performed by an untrained assistant (non-surgeon) physically located with the patient with the second-by-second supervisory guidance of the remote surgeon. Experiments were also done to find ways to ameliorate the instability in force feedback caused by the time delay. For each mode the paper identifies compromises in telepresence and sensory- motor performance and tradeoffs between speed and accuracy. Based on experimental results, recommendations are made for ways to improve telesurgery systems now being developed.

Learning to play a musical instrument and engaging in musical activities have enabled blind and/or low vision people to develop self-identity, find community and pursue music as a career. However, blind and/or low vision music learners face complex obstacles to learn music. They are highly reliant on their learning environment and music teachers for accommodations and flexibility. Prior research has identified the challenges faced by blind and/or low vision musicians and recognized the importance of touch for music reading and physical guidance. However, limited research has addressed these challenges through the development of assistive technology. The development of music computer technologies with haptics and the affordances of wearable technologies provides encouraging opportunities to develop haptic wearable devices to support blind and/or low vision music learning. I identify three unexplored research questions: (1) what design considerations must be addressed in future assistive technologies for BLV music learning, (2) how can wearable technologies with vibrotactile feedback support BLV student-teacher interactions, and (3) what are the long-term benefits and limitations of the use of assistive technologies for BLV music learning? I outline my research to date and highlight my findings.

The imitation of pain sensation in Virtual Reality is considered valuable for safety education and training but has been seldom studied. This paper presents Douleur, a wearable haptic device that renders intensity-adjustable pain sensations with chemical stimulants. Different from mechanical, thermal, or electric stimulation, chemical-induced pain is more close to burning sensations and long-lasting. Douleur consists of a microfluidic platform that precisely emits capsaicin onto the skin and a microneedling component to help the stimulant penetrate the epidermis layer to activate the trigeminal nerve efficiently. Moreover, it embeds a Peltier module to apply the heating or cooling stimulus to the affected area to adjust the level of pain on the skin. To better understand how people would react to the chemical stimulant, we conducted a first study to quantify the enhancement of the sensation by changing the capsaicin concentration, skin temperature, and time and to determine suitable capsaicin concentration levels. In the second study, we demonstrated that Douleur could render a variety of pain sensations in corresponding virtual reality applications. In sum, Douleur is the first wearable prototype that leverages a combination of capsaicin and Peltier to induce rich pain sensations and opens up a wide range of applications for safety education and more.

The research aimed to analysis (1) the deaf student communicate with the deaf student; (2) with other disability; and (3) with normal people. This research used a qualitative approach. The sources of data are focusing on the communication types of deaf students by three deaf people SMALB Banjarmendalan Lamongan academic year 2016/2017. Data Collection Techniques are interview; observation; and documentation. Research Instruments in this study are a notebook to write about the interview; checklist paper; and field note. Analyzing technique in this study are organizing, coding and reducing, interpreting and representing. The result of this study are Deaf children's communication with deaf children is more dominant using nonverbal rather than verbal. Use of continuous verbal communication such as Kinect (facial expression, eye contact, sign language), haptics, paralanguage, and proxemict. Deaf children communicate with other disability (down syndrome) is Deaf children's communication with dominant down syndrome children using nonverbal communication types. The use of intense verbal communication such as kinestict (facial expressions, eye contact, sign language) and haptics are two very important aspects of their communication. Deaf children's communication with normal people uses a combination of verbal (oral and writing) and nonverbal (kinect, haptic, and proxemic). Teachers will use a clear combination of sign language and oral. While researchers use oral, written and sign language to make it easier for deaf students to understand the conversation.

Touch is one most of the important aspects of human life. Nearly all interactions, when broken down, involve touch in one form or another. Recent advances in technology, particularly in the field of virtual reality, have led to increasing interest in the research of haptics. However, accurately capturing touch is still one of most difficult engineering challenges currently being faced. Recent advances in technology such as those found in microcontrollers which allow the creation of smaller sensors and feedback devices may provide the solution. Beyond capturing and measuring touch, replicating touch is also another unique challenge due to the complexity and sensitivity of the human skin. The development of flexible, soft-wearable devices, however, has allowed for the creating of feedback systems that conform to the human form factor with minimal loss of accuracy, thus presenting possible solutions and opportunities. Thus, in this review, the researchers aim to showcase the technologies currently being used in haptic feedback, and their strengths and limitations.

Recent advances in robotics are disseminating robots into the social living environment as humanoids, pets, and caregivers. Novel human-robot interaction techniques and interfaces must be developed, however, to ensure that such robots interact as expected in daily life and work. Unlike conventional personal computers, such robots may assume a variety of configurations, such as industrial, wheel-based, ambulatory, remotely operated, autonomous, and wearable. They may also implement different communications modalities, including voice, video, haptics, and gestures. All of these aspects require that research on human-robot interaction become interdisciplinary, combining research from such fields as robotics, ergonomics, computer science and, psychology. In the field of computer science, new directions in human-computer interaction are emerging as post graphical user interfaces (GUIs). These include wearable, ubiquitous, and real-world computing. Such advances are thereby bridging the gap between robotics and computer science. The open-ended problems that potentially face include the following: What is the most desirable type of interaction between human beings and robots? What sort of technology will enable these interactions? How will human beings accept robots in their daily life and work? We are certain that readers of this special issue will be able to find many of the answers and become open to future directions concerning these problems. Any information that readers find herein will be a great pleasure to its editors.

Abstract Nurses working in the hospital setting increasingly have become overburdened by managing alarms that, in many cases, provide low information value regarding patient health. The current trend, aided by disposable, wearable technologies, is to promote patient monitoring that does not require entering a patient's room. The development of telemetry alarms and middleware escalation devices adds to the continued growth of auditory, visual, and haptic alarms to the hospital environment but can fail to provide a more complete understanding of patient health. As we begin to innovate to both address alarm overload and improve patient management, perhaps using fundamentally different integration architectures, lessons from the aviation flight deck are worth considering. Commercial jet transport systems and their alarms have evolved slowly over many decades and have developed integration methods that account for operational context, provide multiple response protocol levels, and present a more integrated view of the airplane system state. We articulate three alarm system objectives: (1) supporting hazard management, (2) establishing context, and (3) supporting alarm prioritization. More generally, we present the case that alarm design in aviation can spur directions for innovation for telemetry monitoring systems in hospitals.

In recent years, concerns have cropped up about the disappearance of analog buttons in favor of flat, slick touchscreens that ask little from their users’ fingers beyond swipes, touches, and taps. This form of interfacing has generated concerns both about usability and about how users relate tactilely and affectively with digital media. This article suggests that worries about these discursive and material shifts related to finger force and flat design continue a conversation begun >100 years ago when the very concept of a “button” was new. Stitching together past and present, this study identifies a persistent struggle to make sense of how humans touch and feel machines, with questions about user agency, labor, individuality, and authentic engagement coming to the fore. Additionally, it makes a case for encouraging scholars to work at the intersection of history and haptic media systems.

Single loop fixation of posterior chamber intraocular lens in the presence of partial capsular support is usually performed by creation of additional scleral flap or tunnel. This extra port may expose the suture holding the intraocular lens or the tucked-in lens haptics to the outside environment thereby increasing the risk of endophthalmitis. We describe a technique of single loop fixation where the scleral tunnel is created adjacent to the site with the absent capsule, the leading haptic is placed on the capsular scaffold, the trailing haptic is tied to 9-0 polypropylene, and the suture is then secured to the inner edge of the scleral lip with enough tension to center the optics and the wound is then closed. The suture knot gets buried within the scleral tunnel with no external communication and does not require a separate port. It is an easy, safe, fast and reproducible technique with a lens tilt of less than 2°.

The rapid growth of malicious activities on worldwide communication networks, such as the Internet, has highlighted the need for efficient intrusion detection systems. The efficiency of traditional intrusion detection systems is limited, in part, by their inability to relay effectively relevant information due to their lack of interactive/immersive technologies. In this paper, we explore several network visualization techniques geared toward intrusion detection on small- and large-scale networks. We also examine the use of haptics in network intrusion visualization. By incorporating concepts from electromagnetics, fluid dynamics, and gravitational theory, we show that haptic technologies can provide another dimension of information critical to the efficient visualization of network intrusion data. Furthermore, we explore the applicability of these visualization techniques in conjunction with commercial network intrusion detectors. Finally, we present a network intrusion visualization application with haptic integration, NIVA, which allows the analyst to interactively investigate as well as efficiently detect structured attacks across time and space using advanced interactive three-dimensional displays.

Visual feedback and force feedback (haptics) are the two streams of information in a robotic bilateral teleoperation where the operator manipulates a robot in a remote location. Delivering the visual and the haptic information depends in part on the characteristics of the communication network and results in a nonsynchronized delay. The goal is to study the effect of constant nonsynchronized and synchronized time delay of visual and haptic information on the human teleoperation performance. The experimental setup included a virtual reality environment, which allows the operator to manipulate the virtual objects in a simulated remote environment through a haptic device that renders the force feedback. The visual and the haptic information were delayed independently in the range of 0–500 ms, creating 121 different scenarios of synchronized and nonsynchronized delays. Selecting specific parameters of the remote virtual environment guaranteed stable teleportation, given the time delays under study. The experimental tasks included tracing predefined geometrical shapes and a pick-and-place task, which simulates both structured and unstructured interactions under the influence of guiding forces. Eight subjects (n = 8) participated in the experiment performing three repetitions of three different teleoperation tasks with 121 combinations of visual and haptic time delays. The measured parameters that were used to assess the human performance were the task completion time and the position errors expressed as a function of the visual and the haptic time delay. Then, regression and ANOVA analyses were performed. The results indicated that the human performance is a function of the sum of the two delays. As the sum of the two delays increases, the human performance degrades and is expressed with an increase in completion time and position errors. The performance degradation is more pronounced in the pick-and-place task compared to the tracing task. In scenarios where the visual and the haptics information were out of synchronization, the human performance was better than intentionally delaying one source of information in an attempt to synchronize and unify the two delays. The results of this study may be applied to any teleoperation tasks over a network with inherent time delays and more specifically to telesurgery in which performance degradation due to time delay has a profound effect on the quality of the healthcare delivered, patient safety, and ultimately the outcomes of the surgical procedure itself.

The extent to which the addition of haptic communication between human users in a shared virtual environment (SVE) contributes to the shared experience of the users has not received much attention in the literature. In this paper we describe a demonstration of and an experimental study on haptic interaction between two users over a network of significant physical distance and a number of network hops. A number of techniques to mitigate instability of the haptic interactions induced by network latency are presented. An experiment to evaluate the use of haptics in a collaborative situation mediated by a networked virtual environment is examined. The experimental subjects were to cooperate in lifting a virtual box together under one of four conditions in a between-groups design. Questionnaires were used to report the ease with which they could perform the task and the subjective levels of presence and copresence experienced. This extends earlier work by the authors to consider the possibility of haptic collaboration under real network conditions with a number of improvements. Using the technology described in this paper, transatlantic touch was successfully demonstrated between the Touch Lab at Massachusetts Institute of Technology, USA and Virtual Environments and Computer Graphics (VECG) lab at University College London (UCL), UK in 2002. It was also presented at the Internet II demonstration meeting in 2002 between University of Southern California and the Massachusetts Institute of Technology.

We introduce Haplets, a wearable, low-encumbrance, finger-worn, wireless haptic device that provides vibrotactile feedback for hand tracking applications in virtual and augmented reality. Haplets are small enough to fit on the back of the fingers and fingernails while leaving the fingertips free for interacting with real-world objects. Through robust physically-simulated hands and low-latency wireless communication, Haplets can render haptic feedback in the form of impacts and textures, and supplements the experience with pseudo-haptic illusions. When used in conjunction with handheld tools, such as a pen, Haplets provide haptic feedback for otherwise passive tools in virtual reality, such as for emulating friction and pressure-sensitivity. We present the design and engineering for the hardware for Haplets, as well as the software framework for haptic rendering. As an example use case, we present a user study in which Haplets are used to improve the line width accuracy of a pressure-sensitive pen in a virtual reality drawing task. We also demonstrate Haplets used during manipulation of objects and during a painting and sculpting scenario in virtual reality. Haplets, at the very least, can be used as a prototyping platform for haptic feedback in virtual reality.

AbstractAn artificial muscle actuator resolves practical engineering problems in compact wearable devices, which are limited to conventional actuators such as electromagnetic actuators. Abstracting the fundamental advantages of an artificial muscle actuator provides a small-scale, high-power actuating system with a sensing capability for developing varifocal augmented reality glasses and naturally fit haptic gloves. Here, we design a shape memory alloy-based lightweight and high-power artificial muscle actuator, the so-called compliant amplified shape memory alloy actuator. Despite its light weight (0.22 g), the actuator has a high power density of 1.7 kW/kg, an actuation strain of 300% under 80 g of external payload. We show how the actuator enables image depth control and an immersive tactile response in the form of augmented reality glasses and two-way communication haptic gloves whose thin form factor and high power density can hardly be achieved by conventional actuators.

"The research focuses on the relationship between human body and space when mediated by enabling technologies. In the context of wearable devices and prosthetic objects, innovation is linked to integration between body, objects and the data. To identify an effective communication process between man and space, two insights were developed: pressure haptic and rhythm. Haptic pressure is a communicative vehicle to keep attention on main tasks. Rhythm can create a natural dialogue between body and space through the mechanisms of rhythmic entrainment, rhythmic imitation, synchrony. The foot, due to its functional and perceptual characteristics, was chosen as the platform for experimentation. Two prototypes were constructed and tested. The qualitative and quantitative data collected are analysed and discussed in relation to the research objectives. The intervention presented here is called footactil rhythm and seems to have a high application potential in several areas."

Touch as a modality in social communication has been getting more attention with recent developments in wearable technology and an increase in awareness of how limited physical contact can lead to touch starvation and feelings of depression. Although several mediated touch methods have been developed for conveying emotional support, the transfer of emotion through mediated touch has not been widely studied. This work addresses this need by exploring emotional communication through a novel wearable haptic system. The system records physical touch patterns through an array of force sensors, processes the recordings using novel gesture-based algorithms to create actuator control signals, and generates mediated social touch through an array of voice coil actuators. We conducted a human subject study (N = 20) to understand the perception and emotional components of this mediated social touch for common social touch gestures, including poking, patting, massaging, squeezing, and stroking. Our results show that the speed of the virtual gesture significantly alters the participants' ratings of valence, arousal, realism, and comfort of these gestures with increased speed producing negative emotions and decreased realism. The findings from the study will allow us to better recognize generic patterns from human mediated touch perception and determine how mediated social touch can be used to convey emotion. Our system design, signal processing methods, and results can provide guidance in future mediated social touch design.

Until the 1980s research into computer technology was developing outside of a context of media culture. Until the 1970s the computer was seen as a highly effective calculator and a tool for the use in government, military and economic life. Its popular image from the 1940s to 1950s was that of a calculator. At that time the computer was a large machine which only white lab-coated engineers could understand. The computer was studied as a technical instrument, not from the viewpoint of the user. The peculiar communication between the user -- engineers at this point -- and the machine was described in caricatures like those in Electric Media (Brown & Marks 100). Many comics handled the issue of understanding. In one cartoon one engineer asks another: "Do you ever feel that it is trying to tell us something?" And in Robert Sherman Townes's novel "Problem of Emmy", the computer (Emmy) acts out of control and prints the words: "WHO AM I WHO AM I WHO AM I?". In these examples the man-machine relationship was taken under consideration, but the attitude towards the relationship was that of a master-tool way. The user was pronouncedly in control and the machine just a passive tool. After the 1980s the image of the computer was turning into that of a playful toy and a game machine, thanks to the game houses' and marketing departments' efforts. Suddenly the player was playing with the computer, and even fairly often got beaten by it. That definitely raises feelings towards the machine! The playing situation was so intensive that the player did not often pay any attention to the interface, and the roles were not so clear anymore. This was a step towards the idea of natural communication between human and machine. Later science fiction influenced depictions of virtual reality, and haptic interfaces mediated the ideas into reality. In this paper I will discuss the man-machine relationship from the viewpoint of interface design. My expertise is in electronic games, and thus I will use examples from the game industry. This paper is a sidetrack of RAID -- Research of Adaptive User Interface Design, which was going on at the University of Lapland, Finland in 1995-1999. The RAID project was about research into adaptive interface design from the viewpoint of media archaeology, electronic games, toys and media art. Early Visions Already in the 1960s, MIT professor J.C.R. Licklider wrote about man-machine symbiosis. He saw that "man machine symbiosis is an expected development in cooperative interaction between men and electronic computers". He believed that it would lead to a new kind of cooperative partnership between man and machine (9). Licklider's visions are important, because the relationship between man and machine was seen generally differently at those days. At the time of the first mainframe computers in the 1940s, man and machine were seen as separate entities from the viewpoint of data processing. The operator put in data to the machine, which processed it by its own language which only the machine and very few engineers could understand. Fear -- a fearful affection -- has affected the development of machines and the idea of man-machine relationships throughout the decades. One reason for this is that the ordinary person had no contact to the computer. That has led to fears that when cooperating with the machine, the user will become enslaved by it, or sucked into it, as in Charlie Chaplin's film Modern Times (1936). The machine captivates its user's body, punishes it and makes its movement impossible at the end. Or the machine will keep the body's freedom, but adapt its functions to work by the automatic rhythm: the human body will be subordinated to the machine or made a part of it. What Is the Interface? In reality there still is a mediator between the user and the machine: the interface. It is a connector -- a boundary surface -- that enables the user to control the machine. There has been no doubt who is in charge of whom, but the public image of the machine is changing from "computer as a tool" to "computer as an entertainment medium". That is also changing the somewhat fearful relationship to the computer, because such applications place the player much more intensively immersed in the game world. The machine as a tool does not lose its meaning but its functionality and usability are being developed towards more entertainment-like attributes. The interface is an environment and a structural system that consists of the physical machine, a virtual programming environment, and the user. The system becomes perfect when all its parts will unite as a functional, interactive whole. Significant thresholds will arise through the hapticity of the interface, on one hand questioning the bodily relationship between user and machine and on the other hand creating new ways of being with the machine. New haptic (wearable computing) and spatial (sensors in a reactive space) interfaces raise the question of man-machine symbiosis from a new perspective. Interfaces in a Game World In games the man-machine relationship is seen with much less emotion than when using medical applications, for example. The strength of electronic games is in the goal-oriented interaction. The passivity of older machines has been replaced by the information platform where the player's actions have an immediate effect in the virtual world. The player is already surrounded by the computer: at home sitting by the computer holding a joystick and in the arcades sometimes sitting inside the computer or even being tied up with the computer (as in gyroscope VR applications). The symbiosis in game environments is essential and simple. During the 1980s and 1990s a lot of different virtual reality gear variants were developed in the "VR boom". Some systems were more or less masked arcade game machines that did not offer any real virtuality. Virtuality was seen as a new way of working with a machine, but most of the applications did not support the idea far enough. Neither did the developers pay attention to interface design nor to new ways of experiencing and feeling pleasure through the machine. At that time the most important thing was to build a plausible "virtual reality system". Under the futuristic cover of the machine there was usually a PC and a joystick or mouse. Usually a system could easily be labelled as a virtual theater, a dome or a cabin, which all refer to entertainment simulators. At the beginning of the 1990s, data glasses and gloves were the most widely used interfaces within the new interaction systems. Later the development turned from haptic interfaces towards more spatial ideas -- from wearable systems to interaction environments. Still there are only few innovative applications available. One good example is Vivid Group's old Mandala VR system which was later in the 1990s developed further to the Holopod system. It has been promoted as the interface of the future and new way of being with the computer. As in the film Modern Times so also with Holopod the player is in a way sucked inside the game world. But this time with the user's consent. Behind the Holopod is Vivid Group's Mandala VGC (Video Gesture Control) technology which they have been developing since 1986. The Mandala VGC system combines real time video images of the player with the game scene. The player in the real world is the protagonist in the game world. So the real world and the game world are united. That makes it possible to sense the real time movement as well as interaction between the platform and the player. Also other manufacturers like American Holoplex has developed similar systems. Their system is called ThunderCam. Like Konami's Dance Dance Revolution, it asks heavy physical involvement in the Street Fighter combat game. Man-Man and Man-Machine Cooperation One of the most important elements in electronic games has been reaction ability. Now the playing is turning closer to a new sport. Different force feedback systems combined with haptic interfaces will create much more diverse examples of action. For example, the Japanese Konami corporation has developed a haptic version of a popular Playstation dance game where karaoke and an electronic version of the Twister game are combined. Besides new man-machine cooperative applications, there are also under development some multi-user environments where the user interacts with the computer-generated world as well as with other players. The Land of Snow and Ice has been under development for about a year now in the University of Lapland, Finland. It is a tourism project that is supposed to be able to create a sensation of the arctic environment throughout the year. Temperature and atmosphere are created with the help of refrigerating equipment. In the space there are virtual theatre and enhanced ski-doo as interfaces. The 3-D software makes the sensation very intense, and a hydraulic platform extends the experience. The Land of Snow and Ice is interesting from the point of view of the man-machine relationship in the way that it brings a new idea to the interface design: the use of everyday objects as interfaces. The machine is "hidden" inside an everyday object and one is interacting and using the machine in a more natural way. For example, the Norwegian media artist Stahl Stenslie has developed "an 'intelligent' couch through which you communicate using your body through tactile and visual stimuli". Besides art works he has also talked about new everyday communication environments, where the table in a café could be a communication tool. One step towards Stenslie's idea has already become reality in Lasipalatsi café in Helsinki, Finland. The tables are good for their primary purpose, but you can also surf the Internet and read your e-mail with them, while drinking your tea. These kind of ideas have also been presented within 'intelligent home' speculations. Intelligent homes have gained acceptance and there are already several intelligent homes in the world. Naturally there will always be opposition, because the surface between man and machine is still a very delicate issue. In spite of this, I see such homogeneous countries as Finland, for example, to be a good testing ground for a further development of new man-machine interaction systems. Pleasure seems to be one of the key words of the future, and with the new technology, one can make everyday routines easier, pleasure more intense and the Internet a part of social communication: within the virtual as well as in real world communities. In brief, I have introduced two ideas: using games as a testing ground, and embedding haptic and spatial interfaces inside everyday objects. It is always difficult to predict the future and there are always at least technology, marketing forces, popular culture and users that will affect what the man-machine relationship of the future will be like. I see games and game interfaces as the new developing ground for a new kind of man-machine relationship. References Barfield, W., and T.A. Furness. Virtual Environments and Advanced Interface Design. New York: Oxford UP, 1995. Brown, Les, and Sema Marks. Electric Media. New York: Hargrove Brace Jovanovich, 1974. Burdea, G., and P. Coiffet. Virtual Reality Technology. New York: John Wiley and Sons, 1994. Greelish, David. "Hictorically Brewed Magazine. A Retrospective." Classic Computing. 1 Sep. 1999 <http://www.classiccomputing.com/mag.php>. Huhtamo, Erkki. "Odottavasta Operaattorista Kärsimättömäksi Käyttäjäksi. Interaktiivisuuden Arkeologiaa." Mediaevoluutiota. Eds. Kari Hintikka and Seppo Kuivakari. Rovaniemi: U of Lapland P, 1997. Jones, Steve, ed. Virtual Culture: Identity and Communication in Cybersociety. Thousand Oaks, Calif.: Sage, 1997. Kuivakari, Seppo, ed. Keholliset Käyttöliittymät. Helsinki: TEKES, 1999. 1 Sep. 1999 <http://media.urova.fi/~raid>. Licklider, J.C.R. "Man-Computer Symbiosis." 1960. 1 Sep. 1999 <http://memex.org/licklider.pdf>. Picard, Rosalind W. Affective Computing. Cambridge, Mass.: MIT P, 1997. "Return of the Luddites". Interview with Kirkpatrick Sale. Wired Magazine June 1995. Stenslie, Stahl. Artworks. 1 Sep. 1999 <http://sirene.nta.no/stahl/>. Citation reference for this article MLA style: Sonja Kangas. "From Haptic Interfaces to Man-Machine Symbiosis." M/C: A Journal of Media and Culture 2.6 (1999). [your date of access] <http://www.uq.edu.au/mc/9909/haptic.php>. Chicago style: Sonja Kangas, "From Haptic Interfaces to Man-Machine Symbiosis," M/C: A Journal of Media and Culture 2, no. 6 (1999), <http://www.uq.edu.au/mc/9909/haptic.php> ([your date of access]). APA style: Sonja Kangas. (1999) From haptic interfaces to man-machine symbiosis. M/C: A Journal of Media and Culture 2(6). <http://www.uq.edu.au/mc/9909/haptic.php> ([your date of access]).

AbstractQuality of Experience (QoE) is inextricably linked to the user experience of multimedia computing and, although QoE has been explored in relation to other types of multimedia devices, thus far its applicability to wearables has remained largely ignored. Given the proliferation of wearable devices and their growing use to augment and complement the multimedia user experience, the need for a set of QoE guidelines becomes imperative. This study meets that need and puts forward a set of guidelines tailored exclusively towards wearables’ QoE. Accordingly, an extensive experimental investigation has been undertaken to see how wearables impact users’ QoE in multiple sensorial media (mulsemedia) context. Based on the exploratory study, the findings have shown that the haptic vest (KOR-FX) enhanced user QoE to a certain extent. In terms of adoption, participants reported they would generally incorporate the heart rate (HR) monitor wristband (Mio Go) into their daily lives as opposed to the haptic vest. Other findings revealed that human factors play a part in user’s attitudes towards wearables and predominantly age was the major influencing factor. Moreover, the participants’ HR varied throughout the experiments, suggesting an enhanced level of engagement whilst viewing the multimedia video clips. Furthermore, the results suggest that there is a potential future for wearables, if the QoE is a positive one and if the design of such devices are appealing as well as unobtrusive.

We explored the potential of haptics for improving science communication, and recognized that mid-air haptic interaction supports public engagement with science in three relevant themes. While science instruction often focuses on the cognitive domain of acquiring new knowledge, in science communication the primary goal is to produce personal responses, such as awareness, enjoyment, or interest in science. Science communicators seek novel ways of communicating with the public, often using new technologies to produce personal responses. Thus, we explored how mid-air haptics technology could play a role in communicating scientific concepts. We prototyped six mid-air haptic probes for three thematic areas: particle physics, quantum mechanics, cell biology; and conducted three qualitative focus group sessions with domain expert science communicators. Participants highlighted values of the dynamic features of mid-air haptics, its ability to produce shared experiences, and its flexibility in communicating scientific concepts through metaphors and stories. We discuss how mid-air haptics can complement existing approaches of science communication, for example multimedia experiences or live exhibits by helping to create enjoyment or interest, generalized to any fields of science.

AbstractA surface texture is perceived through both the sound and vibrations produced while being explored by our fingers. Because of their common origin, both modalities have a strong influence on each other, particularly at above 60 Hz for which vibrotactile perception and pitch perception share common neural processes. However, whether the sensation of rhythm is shared between audio and haptic perception is still an open question. In this study, we show striking similarities between the audio and haptic perception of rhythmic changes, and demonstrate the interaction of both modalities below 60 Hz. Using a new surface-haptic device to synthesize arbitrary audio-haptic textures, psychophysical experiments demonstrate that the perception threshold curves of audio and haptic rhythmic gradients are the same. Moreover, multimodal integration occurs when audio and haptic rhythmic gradients are congruent. We propose a multimodal model of rhythm perception to explain these observations. These findings suggest that audio and haptic signals are likely to be processed by common neural mechanisms also for the perception of rhythm. They provide a framework for audio-haptic stimulus generation that is beneficial for nonverbal communication or modern human-machine interfaces.

Abstract The performative installation DeviceD utilizes a network of systems toward facilitating interaction between dancer, digital media, and audience. Central to the work is a wearable haptic feedback system able to wirelessly deliver vibrotactile stimuli, with the latter initiated by the audience through posting on Twitter social media platform; the system in use searches for specific mentions, hashtags, and keywords, with positive results causing the system to trigger patterns of haptic biofeedback across the wearable’s four actuator motors. The system acts as the intermediator between the audience’s online actions and the dancer receiving physical stimuli; the dancer interprets these biofeedback signals according to Laban’s Effort movement qualities, with the interpretation informing different states of habitual and conscious choreographic performance. In this article, the authors reflect on their collaborative process while developing DeviceD alongside a multidisciplinary team of technologists, detailing their experience of refining the technology and methodology behind the work while presenting it in three different settings. A literature review is used to situate the work among contemporary research on interaction over internet and haptics in performance practice; haptic feedback devices have been widely used within artistic work for the past 25 years, with more recent practice and research outputs suggesting an increased interest for haptics in the field of dance research. The authors detail both technological and performative elements making up the work, and provide a transparent evaluation of the system, as means of providing a foundation for further research on wearable haptic devices.

Virtual reality technology and immersive virtual environments often support realistic hand representations via hand-posture-sensing controllers or hand tracking for natural hand-based interaction. However, one limiting factor remains as the lack of realistic haptic feedback including tactile and proprioceptive cues; even for simple haptic interactions like touching a virtual object. This paper introduces the Holitouch technique to improve the haptic realism of essential 3D user interface elements such as buttons. Holitouch is a feedback technique based on a wearable device that combines different types of haptic feedback (i.e., 1) pseudo-haptic, 2) tactile, and 3) proprioceptive) to convey the holistic sensation of stiffness, contact, and activation while interacting with 3D buttons. Our approach provides these sensations by utilizing redundant multisensory cues, i.e., congruent feedback, to create plausible illusions of touch. The results of two experiments show that the proposed feedback combination contributes to delivering a holistic sensation when interacting with buttons in VR while having high user acceptance.

Rehabilitation in virtual reality offers advantages in terms of flexibility and parametrization of exercises, repeatability, and continuous data recording and analysis of the progress of the patient, also promoting high engagement and cognitive challenges. Still, most of the proposed virtual settings provide a high quality, immersive visual and audio feedback, without involving the sense of touch. In this paper, we show the design, implementation, and first evaluation of a gaming scenario for upper limb rehabilitation of children with cerebral palsy. In particular, we took care to introduce haptic feedback as a useful source of sensory information for the proposed task, considering—at the same time—the strict constraints for haptic wearable devices to comply with patient’s comfort, residual motor abilities, and with the embedded tracking features of the latest VR technologies. To show the potential of haptics in a rehabilitation setup, the proposed device and rendering method have been used to improve the velocity control of upper limb movements during the VR exercise, given its importance as a motor recovery metric. Eight healthy participants were enrolled, and results showed that haptic feedback can lead to lower speed tracking errors and higher movement smoothness, making the proposed setup suitable to be used in a rehabilitation context as a way to promote movement fluidity during exercises.

In this article, we explore alternative cutaneous haptic feedback for rendering modulation of the grasping force. The aim of the study was to reduce power requirements and in turn dimensions of the actuators, in wearable devices applied to virtual or teleoperated manipulation. This is critical in certain rehabilitation or training scenarios where haptics should not interfere with dexterity of the user. In the study, we experimented discrete, pulsed cutaneous force feedback and compared it with conventional continuous proportional feedback, in a virtual pick and place task. We made use of wearable thimbles based on voice coil actuators in order to provide high-quality, low-noise haptic feedback to the participants. The evaluation was performed on the basis of both objective measurements of task performance (measured virtual forces and correct ratio) and a questionnaire evaluating participants’ preferences for the different feedback conditions. On the basis of the obtained results, in the article, we discuss the possibility of providing high-frequency, discretized cutaneous feedback only, driven by modulation of the grasping force. The opportunity is to reduce volume and mass of the actuators and also to consider alternative design solutions, due to the different requirements in terms of static and high-frequency components of the output force.

ABSTRACTDielectric elastomer actuators (DEAs) have been demonstrated to represent today a high-performance technology for electromechanical transducers based on electroactive polymers. As a means to improve versatility and safety of DEAs for several fields of application, so-called ‘hydrostatically coupled’ DEAs (HC-DEAs) have recently been described. HC-DEAs are based on an incompressible fluid that mechanically couples a DE-based active part to a passive part interfaced to the load, so as to enable hydrostatic transmission. This paper presents ongoing developments of bubble-like HC-DEAs and their promising potential application in the field of haptics. In particular, the first part of the paper describes a static and dynamic characterization of a prototype actuator made of two pre-stretched membranes (20 mm wide, 1.8 mm high, and 60 μm thick) of 3M VHB acrylic elastomer, coupled via silicone grease. The actuator exhibited a maximum stress of 1.3 kPa at 4.4 kV, a relative displacement of -80% at 4.4 kV, a -3dB bandwidth of 3 Hz, and a resonance frequency of 160 Hz. The second part of the paper presents possible applications of the tested actuator configuration for haptic interfaces. Two specific examples are considered. The first deals with a wearable tactile/haptic display used to provide users with tactile feedback during electronic navigation in virtual environments. The display consists of HC-DEAs arranged in contact with finger tips. As a second example of usage, an up-scaled prototype version of an 8-dots refreshable cell for dynamic Braille displays is shown. Each Braille pin consists of a miniature HC-DEA, with a diameter lower than 2 mm. Both types of applications clearly show the potential of the new technology and the prospective opportunities for haptics.

This study describes the main design and prototyping steps of a novel haptic device for cutaneous stimulus of a hand palm. This part of the hand is fundamental in several grasping and manipulation tasks, but is still less exploited in haptics applications than other parts of the hand, as for instance the fingertips. The proposed device has a parallel tendon-based mechanical structure and is actuated by three motors positioned on the hand’s back. The device is able to apply both normal and tangential forces and to render the contact with surfaces with different slopes. The end-effector can be easily changed to simulate the contact with different surface curvatures. The design is inspired by a smaller device previously developed for the fingertips; however, in the device presented in this study, there are significant differences due to the wider size, the different form-factor, and the structure of hand palm. The hand palm represents the support for the fingers and is connected to the arm through the wrist. The device has to be developed taking into account fingers’ and wrist’s motions, and this requirement constrains the number of actuators and the features of the transmission system. The larger size of the palm and the higher forces challenge the device from a structural point of view. Since tendons can apply only tensile forces, a spring-based support has been developed to keep the end-effector separated from the palm when the device is not actuated or when the force to be rendered is null. The study presents the main design guidelines and the main features of the proposed device. A prototype has been realized for the preliminary tests, and an application scenario with a VR environment is introduced.