Haptic guidance improves the visuo-manual tracking of trajectories

BACKGROUND: Learning to perform new movements is usually achieved by following visual demonstrations. Haptic guidance by a force feedback device is a recent and original technology which provides additional proprioceptive cues during visuo-motor learning tasks. The effects of two types of haptic guidances-control in position (HGP) or in force (HGF)-on visuo-manual tracking ("following") of trajectories are still under debate. METHODOLOGY/PRINCIPALS FINDINGS: Three training techniques of haptic guidance (HGP, HGF or control condition, NHG, without haptic guidance) were evaluated in two experiments. Movements produced by adults were assessed in terms of shapes (dynamic time warping) and kinematics criteria (number of velocity peaks and mean velocity) before and after the training sessions. CONCLUSION/SIGNIFICANCE: These results show that the addition of haptic information, probably encoded in force coordinates, play a crucial role on the visuo-manual tracking of new trajectories

Robot-assisted intermanual transfer of handwriting skills

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Handwriting Correction System using Wearable Sleeve with Optimal Tactor Configuration

Handwriting remains an elusive skill with practice worksheets being the common method of learning. Since these worksheets provide only visual feedback and no quantitative feedback, it can often be a challenge to improve. For children with learning disabilities, learning handwriting skills is one of the most difficult tasks. We propose a handwriting training system that uses off-the-shelf webcam, a pen tracking software and a haptic sleeve which provides active feedback to the user based on their deviation from the original pattern. The sleeve has 4 individual motors that vibrate at different intensities based on the direction (right, left, up or down) and severity of the deviation (\u3c 1cm, 1cm – 3cm, \u3e 3cm). Different motor placements around the forearm are evaluated for vibro-tactile feedback accuracy and time response, and a novel spaced-ring configuration is proposed. This paper provides details on the system architecture and sleeve characterization, and the results show promise in utilizing the system for self-correction and visual-motor skills development. The results from sleeve characterization suggest the applicability of the spaced-ring configuration (perceived feedback accuracy \u3e 98%, time response \u3c 1s) in other vibrotactile hand guidance systems, in addition to handwriting correction. Recommendations on tactor placements around the forearm are provided

Learning force patterns with a multimodal system using contextual cues

Previous studies on learning force patterns (fine motor skills) have focused on providing “punctual information”, which means users only receive information about their performance at the current time step. This work proposes a new approach based on “contextual information”, in which users receive information not only about the current time step, but also about the past (how the target force has changed over time) and the future (how the target force will change). A test was run to compare the performance of the contextual approach in relation to the punctual information, in which each participant had to memorize and then reproduce a pattern of force after training with a multimodal system. The findings suggest that the contextual approach is a useful strategy for force pattern learning. The advantage of the contextual information approach over the punctual information approach is that users receive information about the evolution of their performance (helping to correct the errors), and they also receive information about the next forces to be exerted (providing them with a better understanding of the target force profile). Finally, the contextual approach could be implemented in medical training platforms or surgical robots to extend the capabilities of these systems

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility

Optimizing Human Performance in Mobile Text Entry

Although text entry on mobile phones is abundant, research strives to achieve desktop typing performance "on the go". But how can researchers evaluate new and existing mobile text entry techniques? How can they ensure that evaluations are conducted in a consistent manner that facilitates comparison? What forms of input are possible on a mobile device? Do the audio and haptic feedback options with most touchscreen keyboards affect performance? What influences users' preference for one feedback or another? Can rearranging the characters and keys of a keyboard improve performance? This dissertation answers these questions and more. The developed TEMA software allows researchers to evaluate mobile text entry methods in an easy, detailed, and consistent manner. Many in academia and industry have adopted it. TEMA was used to evaluate a typical QWERTY keyboard with multiple options for audio and haptic feedback. Though feedback did not have a significant effect on performance, a survey revealed that users' choice of feedback is influenced by social and technical factors. Another study using TEMA showed that novice users entered text faster using a tapping technique than with a gesture or handwriting technique. This motivated rearranging the keys and characters to create a new keyboard, MIME, that would provide better performance for expert users. Data on character frequency and key selection times were gathered and used to design MIME. A longitudinal user study using TEMA revealed an entry speed of 17 wpm and a total error rate of 1.7% for MIME, compared to 23 wpm and 5.2% for QWERTY. Although MIME's entry speed did not surpass QWERTY's during the study, it is projected to do so after twelve hours of practice. MIME's error rate was consistently low and significantly lower than QWERTY's. In addition, participants found MIME more comfortable to use, with some reporting hand soreness after using QWERTY for extended periods

The Design of a Haptic Device for Training and Evaluating Surgeon and Novice Laparoscopic Movement Skills

As proper levels of force application are necessary to ensure patient safety, and training hours with an expert on live subjects are difficult, enhanced computer-based training is needed to teach the next generation of surgeons. Considering the role of touch in surgery, there is a need for a device capable of discerning the haptic ability of surgical trainees. This need is amplified by minimally invasive surgical techniques where a surgeon\u27s sense of tissue properties comes not directly through their own hands but indirectly through the tools. A haptic device capable of producing a realistic range of forces and motions that can be used to test the ability of users to replicate salient forces in specific maneuvers is proposed. This device also provides the opportunity to use inexpensive haptic trainers to educate surgeons about proper force application. A novel haptic device was designed and built to provide a simplified analogy of the forces and torques felt during free tool motion and constrained pushing, sweep with laparoscopic instruments. The device is realized as a single-degree-of-freedom robotic system controlled using real-time computer hardware and software. The details of the device design and the results of testing the design against the specifications are presented. A significant achievement in the design is the use of a two-camera vision system to sense the user placement of the input device. The capability of the device as a first-order screening tool to distinguish between novices and expert surgeons is described

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility

HUMAN-ROBOT COLLABORATION IN ROBOTIC-ASSISTED SURGICAL TRAINING

Ph.DDOCTOR OF PHILOSOPH