Three-Dimensional Skin Deformation as Force Substitution: Wearable Device Design and Performance during Haptic Exploration of Virtual Environments

IEEE Transactions on Haptics

Volumn 10, Issue 3, 2017, Pages 418-430

  Schorr, Samuel Benjamin ^a   Okamura, Allison M ^a  

^a Stanford University   (United States)

Author keywords

cutaneous feedback; haptic display; Skin deformation; tactile devices; virtual reality; wearable haptics

Indexed keywords

DEFORMATION; FRICTION; HAPTIC INTERFACES; KINEMATICS; MECHANISMS; SKIN; TRIBOLOGY; VIRTUAL REALITY; WEARABLE TECHNOLOGY;

CUTANEOUS FEEDBACKS; FORCE; FORCE FEEDBACK; HAPTIC DEVICES; HAPTICS; PERFORMANCE EVALUATION; SKIN DEFORMATION;

FEEDBACK;

ADULT; COMPUTER INTERFACE; ELECTRONIC DEVICE; EQUIPMENT DESIGN; FEMALE; FINGER; HUMAN; MALE; PHYSIOLOGY; SENSORY FEEDBACK; SKIN; TOUCH; YOUNG ADULT;

ADULT; EQUIPMENT DESIGN; FEEDBACK, SENSORY; FEMALE; FINGERS; HUMANS; MALE; SKIN; TOUCH PERCEPTION; USER-COMPUTER INTERFACE; WEARABLE ELECTRONIC DEVICES; YOUNG ADULT;

EID: 85028514557     PISSN: 19391412     EISSN: None     Source Type: Journal    
DOI: 10.1109/TOH.2017.2672969     Document Type: Article

References (41)

1. K. O. Johnson, "The roles and functions of cutaneous mechanoreceptors, " Current Opinion Neurobiology, vol. 11, no. 4, pp. 455-461, 2001.
2. I. Birznieks, P. Jenmalm, A. W. Goodwin, and R. S. Johansson, "Encoding of direction of fingertip forces by human tactile afferents, " J. Neuroscience, vol. 21, no. 20, pp. 8222-8237, Oct. 2001.
3. K. J. Kuchenbecker, J. Fiene, and G. Niemeyer, "Improving contact realism through event-based haptic feedback, " IEEE Trans. Vis. Comput. Graph., vol. 12, no. 2, pp. 219-230, Mar. /Apr. 2006.
4. R. Schoonmaker and C. Cao, "Vibrotactile force feedback system for minimally invasive surgical procedures, " in Proc. IEEE Int. Conf. Syst. Man Cybern., 2006, vol. 3, pp. 2464-2469.
5. W. McMahan, et al., "Tool contact acceleration feedback for telerobotic surgery, " IEEE Trans. Haptics, vol. 4, no. 3, pp. 210-220, Jul.-Sep. 2011.
6. L. Jones and N. B. Sarter, "Tactile displays: Guidance for their design and application, " Human Factors J. Human Factors Ergonom. Soc., vol. 50, no. 1, pp. 90-111, 2008.
7. K. Drewing, M. Fritschi, R. Zopf, M. O. Ernst, and M. Buss, "First evaluation of a novel tactile display exerting shear force via lateral displacement, " ACM Trans. Appl. Perception, vol. 2, no. 2, pp. 118-131, 2005. [Online]. Available: http://doi. acm. org/10. 1145/ 1060581. 1060586
8. B. Gleeson, S. Horschel, and W. Provancher, "Perception of direction for applied tangential skin displacement: Effects of speed, displacement, and repetition, " IEEE Trans. Haptics, vol. 3, no. 3, pp. 177-188, Jul.-Sep. 2010.
9. W. R. Provancher and N. D. Sylvester, "Fingerpad skin stretch increases the perception of virtual friction, " IEEE Trans. Haptics, vol. 2, no. 4, pp. 212-223, Oct.-Dec. 2009.
10. Z. F. Quek, S. B. Schorr, I. Nisky, A. M. Okamura, and W. R. Provancher, "Augmentation of stiffness perception with a 1-degree-of-freedom skin stretch device, " IEEE Trans. Human-Mach. Syst., vol. 44, no. 6, pp. 731-742, Dec. 2014.
11. S. B. Schorr, Z. F. Quek, R. Y. Romano, I. Nisky, W. R. Provancher, and A. M. Okamura, "Sensory substitution via cutaneous skin stretch feedback, " in Proc. IEEE Int. Conf. Robot. Autom., 2013, pp. 2341-2346.
12. Z. F. Quek, S. B. Schorr, I. Nisky, W. R. Provancher, and A. M. Okamura, "Sensory substitution and augmentation using 3-degree-of-freedom skin deformation feedback, " IEEE Trans. Haptics, vol. 8, no. 2, pp. 209-221, Apr.-Jun. 2015.
13. D. Prattichizzo, F. Chinello, C. Pacchierotti, and M. Malvezzi, "Towards wearability in fingertip haptics: A 3-DoF wearable device for cutaneous force feedback, " IEEE Trans. Haptics, vol. 6, no. 4, pp. 506-516, Oct.-Dec. 2013.
14. A. G. Perez, et al., "Soft finger tactile rendering for wearable haptics, " in Proc. IEEE World Haptics Conf., 2015, pp. 327-332.
15. J. D. Brown, M. Ibrahim, E. D. Z. Chase, C. Pacchierotti, and K. J. Kuchenbecker, "Data-driven comparison of four cutaneous displays for pinching palpation in robotic surgery, " in Proc. IEEE Haptics Symp., 2016, pp. 147-154.
16. D. Prattichizzo, C. Pacchierotti, and G. Rosati, "Cutaneous force feedback as a sensory subtraction technique in haptics, " IEEE Trans. Haptics, vol. 5, no. 4, pp. 289-300, Oct.-Dec. 2012.
17. C. Pacchierotti, A. Tirmizi, and D. Prattichizzo, "Improving transparency in teleoperation by means of cutaneous tactile force feedback, " ACM Trans. Appl. Perception, vol. 11, no. 1, pp. 4:1-4:16, 2014. [Online]. Available: http://doi. acm. org/10. 1145/2604969
18. C. Pacchierotti, L. Meli, F. Chinello, M. Malvezzi, and D. Prattichizzo, "Cutaneous haptic feedback to ensure the stability of robotic teleoperation systems, " Int. J. Robot. Res., vol. 34, no. 14, pp. 1773-1787, 2015.
19. C. Pacchierotti, D. Prattichizzo, and K. J. Kuchenbecker, "Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery, " IEEE Trans. Biomed. Eng., vol. 63, no. 2, pp. 278-287, Feb. 2016.
20. D. Tsetserukou, S. Hosokawa, and K. Terashima, "Linktouch: A wearable haptic device with five-bar linkage mechanism for presentation of two-DoF force feedback at the fingerpad, " in Proc. IEEE Haptics Symp., 2014, pp. 307-312.
21. D. Leonardis, M. Solazzi, I. Bortone, and A. Frisoli, "A 3-RSR haptic wearable device for rendering fingertip contact forces, " IEEE Trans. Haptics, to be published. doi: 10. 1109/TOH. 2016. 2640291.
22. C. Wagner, N. Stylopoulos, P. G. Jackson, and R. Howe, "The benefit of force feedback in surgery: Examination of blunt dissection, " Presence Teleoperators Virtual Environ., vol. 16, no. 3, pp. 252-2620, 2007.
23. J. C. Gwilliam, M. Mahvash, B. Vagvolgyi, A. Vacharat, D. D. Yuh, and A. M. Okamura, "Effects of haptic and graphical force feedback on teleoperated palpation, " in Proc. IEEE Int. Conf. Robot. Autom., 2009, pp. 677-682.
24. S. B. Schorr, Z. F. Quek, I. Nisky, W. R. Provancher, and A. M. Okamura, "Tactor-induced skin stretch as a sensory substitution method in teleoperated palpation, " IEEE Trans. Human-Mach. Syst., vol. 45, no. 6, pp. 714-726, Dec. 2015.
25. H. Tang and D. J. Beebe, "A microfabricated electrostatic haptic display for persons with visual impairments, " IEEE Trans. Rehabil. Eng., vol. 6, no. 3, pp. 241-248, Sep. 1998.
26. L. Winfield, J. Glassmire, J. Colgate, and M. Peshkin, "T-PaD: Tactile pattern display through variable friction reduction, " in Proc. IEEE World Haptics Conf., 2007, pp. 421-426.
27. B. Gleeson, C. Stewart, and W. Provancher, "Improved tactile shear feedback: Tactor design and an aperture-based restraint, " IEEE Trans. Haptics, vol. 4, no. 4, pp. 253-262, Oct.-Dec. 2011.
28. M. Lopez, E. Castillo, G. Garcia, and A. Bashir, "Delta robot: Inverse, direct, and intermediate Jacobians, " J. Mech. Eng. Sci., vol. 220, no. 14, pp. 103-109, 2006.
29. R. L. Williams, "The delta parallel robot: Kinematics solutions, " 2016. [Online]. Available: http://www. ohio. edu/people/ williar4/html/pdf/DeltaKin. pdf
30. J. Much, "Error classification and propagation for electromagnetic tracking, " Master's thesis, Technical University of Munich, Munchen, Germany, 2008.
31. M. Zhang and A. F. Mak, "In vivo friction properties of human skin, " Prosthetics Orthotics Int., vol. 23, no. 2, pp. 135-141, 1999.
32. F. Conti, F. Barbagli, D. Morris, and C. Sewell, "CHAI3D: An open-source library for the rapid development of haptic scenes, " in Proc. IEEE World Haptics Conf., 2005, pp. 21-29.
33. C. B. Zilles and J. Salisbury, "A constraint-based god-object method for haptic display, " in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 1995, pp. 21-29.
34. W. S. Harwin and N. Melder, "Improved haptic rendering for multi-finger manipulation using friction cone based god-objects, " in Proc. Eurohaptics Conf., 2002, pp. 82-85.
35. B. Gleeson, S. K. Horschel, and W. Provancher, "Design of a fingertip-mounted tactile display with tangential skin displacement feedback, " IEEE Trans. Haptics, vol. 3, no. 4, pp. 297-301, Oct.-Dec. 2010.
36. S. J. Lederman, "Hand movements: A window into haptic object recognition, " Cognitive Psychology, vol. 19, no. 3, pp. 342-368, 1987.
37. G. Cadoret and A. M. Smith, "Friction, not texture, dictates grip forces used during object manipulation, " J. Neurophysiology, vol. 75, no. 5, pp. 1963-1969, 1996.
38. C. Richard and M. Cutkosky, "Friction modeling and display in haptic applications involving user performance, " in Proc. IEEE Int. Conf. Robot. Autom., 2002, pp. 605-611.
39. G. A. Gescheider, Psychophysics: The Fundamentals. Mahwah, NJ, USA: Lawrence Erlbaum Associates, Inc., 1997.
40. "The psychometric function: I. Fitting, sampling, and goodness of fit, " Perception Psychophysics, vol. 63, no. 8, pp. 1293-313, Nov. 2001. [Online]. Available: http://www. ncbi. nlm. nih. gov/ pubmed/11800458
41. L. T. Gwilliam, A. J. Doxon, and W. R. Provancher, "Haptic matching of directional force and skin stretch feedback cues, " in Proc. IEEE World Haptics Conf., 2013, pp. 19-24.