Vibrotactile Displays: A Survey with a View on Highly Automated Driving

IEEE Transactions on Intelligent Transportation Systems

Volumn 17, Issue 4, 2016, Pages 897-907

  Petermeijer, Sebastiaan M ^a   De Winter, Joost C F ^b   Bengler, Klaus J ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

^b DELFT UNIVERSITY OF TECHNOLOGY   (Netherlands)

Author keywords

Highly automated driving; human machine interface; tactile feedback; vibrotactile display

Indexed keywords

SURVEYS; FEEDBACK; VEHICLES;

AUTOMATED DRIVING; AUTOMATED VEHICLES; COGNITIVE PROCESSING; LITERATURE SURVEY; MULTIMODAL FEEDBACK; RESEARCH QUESTIONS; VIBROTACTILE DISPLAYS; VIBROTACTILE SENSATIONS; CAR DRIVING; DRIVING TASKS; HIGHLY AUTOMATED DRIVING; HUMAN MACHINE INTERFACE; STEERING WHEEL; TACTILE FEEDBACK; VIBROTACTILE;

AUTOMATION;

EID: 84947340102     PISSN: 15249050     EISSN: None     Source Type: Journal    
DOI: 10.1109/TITS.2015.2494873     Document Type: Review

References (94)

1. K. E. MacLean and V. Hayward, "Do it yourself haptics: Part II," IEEE Robot. Autom. Mag., vol. 15, no. 1, pp. 104-119, Mar. 2008.
2. P. Lif et al., "Evaluation of tactile drift displays in helicopter," Human-Comput. Interact. Adv. Interact. Modalities Tech., vol. 8511, pp. 578-588, 2014.
3. J. B. F. van Erp, J. A. Veltman, H. A. H. C. van Veen, and A. B. Oving, "Tactile torso display as countermeasure to reduce night vision goggles induced drift," in Proc. Symp. "Spatial Disorientation Mil. Veh. Causes, Consequences Cures", La Coruna, Spain, 2002, pp. 15-17.
4. M. Mulder, D. A. Abbink, and E. R. Boer, "Sharing control with haptics: Seamless driver support from manual to automatic control," Hum. Factors J. Hum. Factors Ergonom. Soc., vol. 54, no. 5, pp. 786-798, Oct. 2012.
5. D. A. Abbink, M. Mulder, and E. R. Boer, "Haptic shared control: Smoothly shifting control authority?" Cogn. Technol. Work, vol. 14, no. 1, pp. 19-28, Mar. 2012.
6. J. H. Hogema, S. C. de Vries, J. B. F. van Erp, and R. J. Kiefer, "A tactile seat for direction coding in car driving: Field evaluation," IEEE Trans. Haptics, vol. 2, no. 4, pp. 181-188, Oct.-Dec. 2009.
7. M. Mulder, D. A. Abbink, M. M. van Paassen, and M. Mulder, "Design of a haptic gas pedal for active car-following support," IEEE Trans. Intell. Transp. Syst., vol. 12, no. 1, pp. 268-279, Mar. 2011.
8. C. Spence and C. Ho, "Tactile and multisensory spatial warning signals for drivers," IEEE Trans. Haptics, vol. 1, no. 2, pp. 121-129, Jul.-Dec. 2008.
9. J. A. López, "Kia named Quoris his K9 flagship sedan for export markets," 2012. [Online]. Available: http://thekoreancarblog.com/2012/07/18/kianamed-quoris-k9-flagship-sedan-export-markets-wvideos/
10. S. M. Petermeijer, D. A. Abbink, M. Mulder, and J. C. F. de Winter, "The effect of haptic support systems on driver performance and behavior: A literature review," IEEE Trans. Haptics, vol. 8, no. 4, pp. 467-479, Oct.-Dec. 2015.
11. L. A. Jones and N. B. Sarter, "Tactile displays: Guidance for their design and application," Hum. Factors J. Hum. Factors Ergonom. Soc., vol. 50, no. 1, pp. 90-111, 2008.
12. D. Begg, "A 2050 vision for London: What are the implications of driversless transport," Transp. Times, London, U.K., Rep. Commun. by Clear Channel, pp. 1-65, 2014.
13. S. E. Underwood, "Automated vehicles forecast vehicle symposium opinion survey," presented at the Automated Vehicles Symposium, San Fransisco, CA, USA, 2014.
14. SAE, "Taxonomy and definitions for terms related to on-road motor vehicle automated driving systems," Warrendale, PA, USA, 2014.
15. A. K. Raj, S. J. Kass, and J. F. Perry, "Vibrotactile displays for improving spatial awareness," Proc. Hum. Factors Ergonom. Soc. Annu. Meet., vol. 44, no. 1, pp. 181-184, 2000.
16. M. Enriquez, O. Afonin, B. Yager, and K. E. MacLean, "A pneumatic tactile alerting system for the driving environment," in Proc. Work. PUI, 2001, pp. 1-7.
17. B. McGrath et al., "Chapter 4 - Tactile actuator technology," in Tactile Displays Orientation, Navigation and Communication in Air, Sea, and Land Environments. Neuilly Sur Seine, France: Res. Technol. Org. (RTO) North Atlantic Treaty Org. (NATO), pp. 1-12, 2008.
18. E. N. Marieb and K. Hoehn, Human Anatomy & Physiology, 10th ed. New York, NY, USA: Pearson Education, 2015.
19. G. A. Gescheider, S. J. Bolanowski, and R. T. Verrillo, "Some characteristics of tactile channels," Behav. Brain Res., vol. 148, no. 1/2, pp. 35-40, Jan. 2004.
20. S. J. Bolanowksi, G. A. Gescheider, R. T. Verrillo, and C. M. Checkosky, "Four channels mediate the mechanical aspects of touch," J. Acoust. Soc. Amer., vol. 84, no. 5, pp. 1680-1694, Jan. 1988.
21. G. A. Gescheider, S. J. Bolanowski, K. L. Hall, K. E. Hoffman, and R. T. Verrillo, "The effects of aging on information-processing channels in the sense of touch: I. Absolute Sensitivity," Somatosens. Motor Res., vol. 11, no. 4, pp. 345-357, 1994.
22. S. J. Bolanowski, G. A. Gescheider, and R. T. Verrillo, "Hairy skin: Psychophysical channels and their physiological substrates," Somatosens. Motor Res., vol. 11, no. 3, pp. 279-290, 1994.
23. F. A. Geldard, "Some neglected possibilities of communication," Science, vol. 131, no. 3413, pp. 1583-1588, May 1960.
24. J. B. F. van Erp, "Guidelines for the use of vibro-tactile displays in human computer interaction," in Proc. Eurohaptics, 2002, pp. 18-22.
25. Y. G. Ji, K. Lee, and W. Hwang, "Haptic perceptions in the vehicle seat," Hum. Factors Ergonom. Manuf. Serv. Ind., vol. 21, no. 3, pp. 305-325, 2011.
26. R. Gray, C. Ho, and C. Spence, "A comparison of different informative vibrotactile forward collision warnings: Does the warning need to be linked to the collision event?," PLoS one, vol. 9, no. 1, 2014, Art. ID. e87070.
27. F. Meng, C. Ho, R. Gray, and C. Spence, "Dynamic vibrotactile warning signals for frontal collision avoidance: Towards the torso versus towards the head," Ergonomics, vol. 58, no. 3, pp. 411-25, 2015.
28. F. Meng and C. Spence, "Tactile warning signals for in-vehicle systems," Accident Anal. Prev., vol. 75, pp. 333-346, Feb. 2015.
29. T. K. Ferris and N. B. Sarter, "When content matters: The role of processing code in tactile display design," IEEE Trans. Haptics, vol. 3, no. 3, pp. 199-210, Jul.-Sep. 2010.
30. M. Rothenberg, R. T. Verrillo, S. A. Zahorian, M. L. Brachman, and S. J. Bolanowski, "Vibrotactile frequency for encoding a speech parameter," J. Acoust. Soc. Amer., vol. 62, no. 4, pp. 1003-1012, Oct. 1977.
31. G. A. Gescheider, S. J. Bolanowski, J. V. Pope, and R. T. Verrillo, "A four-channel analysis of the tactile sensitivity of the fingertip: Frequency selectivity, spatial summation, and temporal summation," Somatosens. Motor Res., vol. 19, no. 2, pp. 114-124, 2002.
32. G. von Békésy, "Synchronism of neural discharges and their demultiplication in pitch perception on the skin and in hearing," J. Acoust. Soc. Amer., vol. 31, no. 3, pp. 338-349, 1959.
33. R. T. Verrillo, A. J. Fraioli, and R. L. Smith, "Sensation magnitude of vibrotactile stimuli," Perception Psychophys., vol. 6, no. 6A, pp. 366-372, 1969.
34. J. C. Craig, "Difference threshold for intensity of tactile stimuli," Perception Psychophys., vol. 11, no. 2, pp. 150-152, 1972.
35. R.W. Cholewiak, "Spatial factors in the perceived intensity of vibrotactile patterns," Sens. Process., vol. 3, pp. 141-156, 1979.
36. R. T. Verrillo, "Effect of contactor area on the vibrotactile threshold," J. Acoust. Soc. Amer., vol. 35, no. 12, pp. 1962-1966, 1963.
37. F. A. Geldard and C. E. Sherrick, "The cutaneous "rabbit": A perceptual illusion," Science, vol. 178, pp. 178-179, 1972.
38. R. T. Verrillo, G. A. Gescheider, B. G. Calman, and C. L. van Doren, "Vibrotactile masking: Effects of one-and two-site stimulation," Perception Psychophys., vol. 33, no. 4, pp. 379-387, 1983.
39. W. E. Hick, "On the rate of gain of information," Q. J. Exp. Psychol., vol. 4, no. 1, pp. 11-26, 1952.
40. G. M. Fitch, J. M. Hankey, B.M. Kleiner, and T. A. Dingus, "Driver comprehension of multiple haptic seat alerts intended for use in an integrated collision avoidance system," Transp. Res. F, Traffic Psychol. Behav., vol. 14, no. 4, pp. 278-290, Jul. 2011.
41. G. A. Gescheider, "Temporal relations in cutaneous stimulation," in Cutaneous Communication Systems and Devices, F. A. Gerald, Ed. Austin, TX, USA: Psychonomic Society, 1974, pp. 33-37.
42. T. Kaaresoja and J. Linjama, "Perception of short tactile pulses generated by a vibration motor in a mobile phone," in Proc. 1st Jt. Eurohaptics Conf. Symp. Haptic Interfaces Virtual Environ. Teleoperator Syst. World Haptics Conf., 2005, pp. 2-3.
43. J. B. F. van Erp, A. Toet, and J. B. Janssen, "Uni-, bi-and tri-modal warning signals: Effects of temporal parameters and sensory modality on perceived urgency," Safety Sci., vol. 72, pp. 1-8, Feb. 2015.
44. B. Lewis, J. L. Eisert, and C. L. Baldwin, "Effect of tactile location, pulse duration and interpulse interval on perceived urgency," Transp. Res. Rec. J. Transp. Res. Board, vol. 2423, pp. 10-14, 2014.
45. J. F. Hahn, "Vibrotactile adaptation and recovery measure by two methods," J. Exp. Psychol., vol. 71, no. 5, pp. 655-658, 1966.
46. L. M. Brown, S. A. Brewster, and H. C. Purchase, "A first investigation into the effectiveness of Tactons," in Proc. 1st Jt. Eurohaptics Conf. Symp. Haptic Interfaces Virtual Environ. Teleoperator Syst. World Haptics Conf., 2005, pp. 167-176.
47. S. de Groot, J. C. F. de Winter, J. M. L. García, M. Mulder, and P. A.Wieringa, "The effect of concurrent bandwidth feedback on learning the lane-keeping task in a driving simulator," Hum. Factors J. Hum. Factors Ergonom. Soc., vol. 53, no. 1, pp. 50-62, 2011.
48. J. Navarro, F. Mars, and J.-M. Hoc, "Lateral control assistance for car drivers: A comparison of motor priming and warning systems," Hum. Factors J. Hum. Factors Ergonom. Soc., vol. 49, no. 5, pp. 950-960, 2007.
49. J. Chun et al., "Evaluating the effectiveness of haptic feedback on a steering wheel for FCW," in Proc. 9th Pan-Pacific Conf. Ergonom., 2010, pp. 9-11.
50. J. J. Scott and R. Gray, "A comparison of tactile, visual, and auditory warnings for rear-end collision prevention in simulated driving," Hum. Factors J. Hum. Factors Ergonom. Soc., vol. 50, no. 2, pp. 264-275, 2008.
51. D. P. Racine, N. B. Cramer, and M. H. Zadeh, "Active blind spot crash avoidance system: A haptic solution to blind spot collisions," in Proc. IEEE Int. Symp. HAVE, 2010, pp. 1-5.
52. J. Chun et al., "Efficacy of haptic blind spot warnings applied through a steering wheel or a seatbelt," Transp. Res. F, Traffic Psychol. Behav., vol. 21, pp. 231-241, Nov. 2013.
53. S. A. Birrell, M. S. Young, and A. M. Weldon, "Vibrotactile pedals: Provision of haptic feedback to support economical driving," Ergonomics, vol. 56, no. 2, pp. 282-92, 2013.
54. J. B. F. van Erp and H. A. H. C. van Veen, "Vibrotactile in-vehicle navigation system," Transp. Res. F, Traffic Psychol. Behav., vol. 7, no. 4/5, pp. 247-256, 2004.
55. N. B. Sarter, "The need for mulitsensory interfaces in support of effective attention allocation in highly dynamic event-driven domains: The case of cockpit automation," Int. J. Aviation Psychol., vol. 10, no. 3, pp. 231-245, 2000.
56. R. Mohebbi, R. Gray, H. Z. Tan, and W. Lafayette, "Driver reaction time to tactile and auditory rear-end collision warnings while talking on a cell phone," Hum. Factors J. Hum. Factors Ergonom. Soc., vol. 51, no. 1, pp. 102-110, 2009.
57. A. Gallace, S. Zeeden, B. Röder, and C. Spence, "Lost in the move? Secondary task performance impairs tactile change detection on the body," Conscious. Cogn., vol. 19, no. 1, pp. 215-229, 2010.
58. R. Parasuraman, "Designing automation for human use: Empirical studies and quantitative models," Ergonomics, vol. 43, no. 7, pp. 931-951, Jun. 2000.
59. C. Ho, H. Z. Tan, and C. Spence, "Using spatial vibrotactile cues to direct visual attention in driving scenes," Transp. Res. F, Traffic Psychol. Behav., vol. 8, no. 6, pp. 397-412, Nov. 2005.
60. M. S. Prewett, L. R. Elliott, A. G.Walvoord, and M. D. Coovert, "A metaanalysis of vibrotactile and visual information displays for improving task performance," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol. 42, no. 1, pp. 123-132, Jan. 2012.
61. V. Nitsch and B. Färber, "A meta-analysis of the effects of haptic interfaces on task performance with teleoperation systems," IEEE Trans. Haptics, vol. 6, no. 4, pp. 387-398, Oct./Dec. 2013.
62. F. Beruscha, L. Wang, K. Augsburg, and H. Wandke, "Do drivers steer towards or away from lateral directional vibrations at the steering wheel?" in Proc. 2nd Eur. Conf. Hum. Centred Des. Intell. Transp. Syst., 2010, pp. 227-236.
63. T. Nukarinen, J. Rantala, A. Farooq, and R. Raisamo, "Delivering directional haptic cues through eyeglasses and a seat," in Proc. IEEE World Haptics Conf., 2015, pp. 345-350.
64. S. M. Straughn, R. Gray, and H. Z. Tan, "To go or not to go: Stimulus-response compatibility for tactile and auditory pedestrian collision warnings," IEEE Trans. Haptics, vol. 2, no. 2, pp. 111-117, Apr.-Jun. 2009.
65. K. Suzuki and H. Jansson, "An analysis of driver's steering behaviour during auditory or haptic warnings for the designing of lane departure warning system," Jpn. Soc. Automotive Eng. Rev., vol. 24, no. 1, pp. 65-70, Jan. 2003.
66. J. Navarro, F. Mars, J.-M. Hoc, R. Boisliveau, and F. Vienne, "Evaluation of human-machine cooperation applied to lateral control in car driving," in Proc. 16th World Congr. Int. Ergonom. Soc., 2006, pp. 4957-4962.
67. J. B. F. van Erp, H. A. H. C. van Veen, C. Jansen, and T. Dobbins, "Waypoint navigation with a vibrotactile waist belt," ACM Trans. Appl. Perception, vol. 2, no. 2, pp. 106-117, Apr. 2005.
68. B. J. McGrath, A. Estrada, M. G. Braithwaite, A. K. Raj, and A. H. Rupert, "Tactile situation awareness system flight demonstration," United States Army Aeromed. Res. Lab., Fort Rucker, AL, USA, 2004.
69. J. B. F. van Erp, E. L. Groen, J. E. Bos, and H. A. H. C. van Veen, "A tactile cockpit instrument supports the control of self-motion during spatial disorientation," Hum. Factors J. Hum. Factors Ergonom. Soc., vol. 48, no. 2, pp. 219-228, 2006.
70. J. B. F. van Erp and H. a. H. C. van Veen, "Touch down: The effect of artificial touch cues on orientation in microgravity," Neurosci. Lett., vol. 404, no. 1/2, pp. 78-82, Aug. 2006.
71. J. Morrell and K. Wasilewski, "Design and evaluation of a vibrotactile seat to improve spatial awareness while driving," in Proc. IEEE Haptics Symp., 2010, pp. 281-288.
72. C. Ho, C. Spence, and R. Gray, "Looming auditory and vibrotactile collision warnings for safe driving," in Proc. 7th Int. Driving Symp. Hum. Factors Driver Assess., Train., Veh. Des., 2013, pp. 551-557.
73. F. Meng, R. Gray, C. Ho, M. Ahtamad, and C. Spence, "Dynamic vibrotactile signals for forward collision avoidance warning systems," Hum. Factors J. Hum. Factors Ergonom. Soc., vol. 57, no. 2, pp. 329-346, 2015.
74. C. Ho, R. Gray, and C. Spence, "Reorienting driver attention with dynamic tactile cues," IEEE Trans. Haptics, vol. 7, no. 1, pp. 86-94, Jan./Mar. 2014.
75. J. C. F. deWinter, R. Happee, M. H. Martens, and N. A. Stanton, "Effects of adaptive cruise control and highly automated driving on workload and situation awareness: A review of the empirical evidence," Transp. Res. F, Traffic Psychol. Behav., vol. 27, pp. 196-217, 2014.
76. C. Gold and K. Bengler, "Taking over control from highly automated vehicles," in Proc. 5th Int. Conf. AHFE, 2014, pp. 3662-3667.
77. P. Kerschbaum, L. Lorenz, and K. Bengler, "A transforming steering wheel for highly automated cars," in Proc. Intell. Veh. Symp., 2015, pp. 1287-1292.
78. K. Zeeb, A. Buchner, and M. Schrauf, "What determines the take-over time? An integrated model approach of driver take-over after automated driving," Accident Anal. Prevent., vol. 78, pp. 212-221, May 2015.
79. C. Gold, D. Damböck, L. Lorenz, and K. J. Bengler, ""Take over!" How long does it take to get the driver back into the loop?," Proc. Hum. Factors Ergonom. Soc. Annu. Meet., vol. 57, no. 1, pp. 1938-1942, 2013.
80. V. Melcher, S. Rauh, F. Diederichs, and W. Bauer, "Take-over requests for automated driving," in Proc. 6th Int. Conf. AHFE, 2015, pp. 4219-4225.
81. J. Radlmayr, C. Gold, L. Lorenz, M. Farid, and K. Bengler, "How traffic situations and non-driving related tasks affect the take-over quality in highly automated driving," Proc. Hum. Factors Ergonom. Soc. Annu. Meet., vol. 58, no. 1, pp. 2063-2067, 2014.
82. N. Merat, A. H. Jamson, F. C. H. Lai, M. Daly, and O. M. J. Carsten, "Transition to manual: Driver behaviour when resuming control from a highly automated vehicle," Transp. Res. F, Traffic Psychol. Behav., vol. 27, pp. 274-282, Nov. 2014.
83. P. A. Desmond, P. A. Hancock, and J. L. Monette, "Fatigue and automation-induced impairments in simulated driving performance," Transp. Res. Rec., vol. 1628, pp. 8-14, 1998.
84. R. J. Kosinski, "A literature review on reaction time," Clemson Univ., Clemson, SC, USA, 2008. [Online]. Available: http://homepage.univie. ac.at/andreas.franz.reichelt/intro2cogsci2/data/literature-review-reaction -time.pdf
85. J. D. Lee, D. V. McGehee, T. L. Brown, and D. Marshall, "Effects of adaptive cruise control and alert modality on driver performance," Transp. Res. Rec. J. Transp. Res. Board, vol. 1980, no. 1, pp. 49-56, 2006.
86. M. Schwalk, N. Kalogerakis, and T. Maier, "Driver support by a vibrotactile seat matrix - Recognition, adequacy and workload of tactile patterns in take-over scenarios during automated driving," in Proc. 6th Int. Conf. AHFE, 2015, pp. 1427-1434.
87. J. B. F. van Erp, "Presenting directions with a vibrotactile torso display," Ergonomics, vol. 48, no. 3, pp. 302-313, 2005.
88. P. A. Hancock et al., "Tactile cuing to augment multisensory human-machine interaction," Ergonom. Des. Quartely Hum. Factor Appl., vol. 23, no. 2, pp. 4-9, 2015.
89. A. Telpaz, B. Rhindress, I. Zelman, and O. Tsimhoni, "Haptic seat for automated driving: Preparing the driver to take control effectively," in Proc. 7th Int. Conf. Automotive User Interfaces Interact. Veh. Appl., 2015, pp. 23-30.
90. R. E. Llaneras, J. Salinger, and C. A. Green, "Human factors issues associated with limited ability autonomous driving systems: Drivers' allocation of visual attention to the forward roadway," in Proc. 7th Int. Driv. Symp. Hum. Factors Driver Assessment, Train., Veh. Des., 2013, pp. 92-98.
91. M. Omae, N. Hashimoto, T. Sugamoto, and H. Shimizu, "Measurement of driver's reaction time to failure of steering controller during automatic driving," Rev. Automotive Eng., vol. 26, no. 2, pp. 213-215, Apr. 2005.
92. C. D.Wickens, J. Hollands, S. Banbury, and R. Parasuraman, Engineering Psychology and Human Performance. Boston, MA, USA: Pearson, 2013.
93. M. Pfromm, S. Cieler, and R. Bruder, "Driver assistance via optical information with spatial reference," in Proc. 16th Int. IEEE Annu. ITSC, 2013, pp. 2006-2011.
94. G. M. Fitch, R. J. Kiefer, J. M. Hankey, and B. M. Kleiner, "Toward developing an approach for alerting drivers to the direction of a crash threat," Hum. Factors J. Hum. Factors Ergonom. Soc., vol. 49, no. 4, pp. 710-720, 2007.