Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, held in Hamburg, Germany, in May 2022. The 36 regular papers included in this book were carefully reviewed and selected from 129 submissions. They were organized in topical sections as follows: haptic science; haptic technology; and haptic applications

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

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

Wearable haptic systems for the fingertip and the hand: taxonomy, review and perspectives

In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way. This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. The paper also discusses the main technological and design challenges for the development of wearable haptic interfaces, and it reports on the future perspectives of the field. Finally, the paper includes two tables summarizing the characteristics and features of the most representative wearable haptic systems for the fingertip and the hand

Touching on elements for a non-invasive sensory feedback system for use in a prosthetic hand

Hand amputation results in the loss of motor and sensory functions, impacting activities of daily life and quality of life. Commercially available prosthetic hands restore the motor function but lack sensory feedback, which is crucial to receive information about the prosthesis state in real-time when interacting with the external environment. As a supplement to the missing sensory feedback, the amputee needs to rely on visual and audio cues to operate the prosthetic hand, which can be mentally demanding. This thesis revolves around finding potential solutions to contribute to an intuitive non-invasive sensory feedback system that could be cognitively less burdensome and enhance the sense of embodiment (the feeling that an artificial limb belongs to one’s own body), increasing acceptance of wearing a prosthesis.A sensory feedback system contains sensors to detect signals applied to the prosthetics. The signals are encoded via signal processing to resemble the detected sensation delivered by actuators on the skin. There is a challenge in implementing commercial sensors in a prosthetic finger. Due to the prosthetic finger’s curvature and the fact that some prosthetic hands use a covering rubber glove, the sensor response would be inaccurate. This thesis shows that a pneumatic touch sensor integrated into a rubber glove eliminates these errors. This sensor provides a consistent reading independent of the incident angle of stimulus, has a sensitivity of 0.82 kPa/N, a hysteresis error of 2.39±0.17%, and a linearity error of 2.95±0.40%.For intuitive tactile stimulation, it has been suggested that the feedback stimulus should be modality-matched with the intention to provide a sensation that can be easily associated with the real touch on the prosthetic hand, e.g., pressure on the prosthetic finger should provide pressure on the residual limb. A stimulus should also be spatially matched (e.g., position, size, and shape). Electrotactile stimulation has the ability to provide various sensations due to it having several adjustable parameters. Therefore, this type of stimulus is a good candidate for discrimination of textures. A microphone can detect texture-elicited vibrations to be processed, and by varying, e.g., the median frequency of the electrical stimulation, the signal can be presented on the skin. Participants in a study using electrotactile feedback showed a median accuracy of 85% in differentiating between four textures.During active exploration, electrotactile and vibrotactile feedback provide spatially matched modality stimulations, providing continuous feedback and providing a displaced sensation or a sensation dispatched on a larger area. Evaluating commonly used stimulation modalities using the Rubber Hand Illusion, modalities which resemble the intended sensation provide a more vivid illusion of ownership for the rubber hand.For a potentially more intuitive sensory feedback, the stimulation can be somatotopically matched, where the stimulus is experienced as being applied on a site corresponding to their missing hand. This is possible for amputees who experience referred sensation on their residual stump. However, not all amputees experience referred sensations. Nonetheless, after a structured training period, it is possible to learn to associate touch with specific fingers, and the effect persisted after two weeks. This effect was evaluated on participants with intact limbs, so it remains to evaluate this effect for amputees.In conclusion, this thesis proposes suggestions on sensory feedback systems that could be helpful in future prosthetic hands to (1) reduce their complexity and (2) enhance the sense of body ownership to enhance the overall sense of embodiment as an addition to an intuitive control system

Doctor of Philosophy

dissertationThe study of haptic interfaces focuses on the use of the sense of touch in human-machine interaction. This document presents a detailed investigation of lateral skin stretch at the fingertip as a means of direction communication. Such tactile communication has applications in a variety of situations where traditional audio and visual channels are inconvenient, unsafe, or already saturated. Examples include handheld consumer electronics, where tactile communication would allow a user to control a device without having to look at it, or in-car navigation systems, where the audio and visual directions provided by existing GPS devices can distract the driver's attention away from the road. Lateral skin stretch, the displacement of the skin of the fingerpad in a plane tangent to the fingerpad, is a highly effective means of communicating directional information. Users are able to correctly identify the direction of skin stretch stimuli with skin displacements as small as 0.1 mm at rates as slow as 2 mm/s. Such stimuli can be rendered by a small, portable device suitable for integration into handheld devices. The design of the device-finger interface affects the ability of the user to perceive the stimuli accurately. A properly designed conical aperture effectively constrains the motion of the finger and provides an interface that is practical for use in handheld devices. When a handheld device renders directional tactile cues on the fingerpad, the user must often mentally rotate those cues from the reference frame of the finger to the world-centered reference frame where those cues are to be applied. Such mental rotation incurs a cognitive cost, requiring additional time to mentally process the stimuli. The magnitude of these cognitive costs is a function of the angle of rotation, and of the specific orientations of the arm, wrist and finger. Even with the difficulties imposed by required mental rotations, lateral skin stretch is a promising means of communicating information using the sense of touch with potential to substantially improve certain types of human-machine interaction

On the application and generation of subsensory electrical nerve stimulation for the improvement of vibration perception in patients with HIV-related sensory neuropathy

This work investigates the application of Subsensory Electrical Noise Stimulation (SENS) to improve symptoms of HIV-related peripheral sensory neuropathy (HIVPN). HIV-PN occurs in roughly half of the 5 million people in South Africa with HIV. The disease has been shown to reduce quality of life and increase the risk of secondary ailments. Currently there is no treatment available. Previously, SENS has shown promise to improve tactile sensitivity in healthy populations and elderly individuals with peripheral neuropathic desensitisation. This work first establishes if SENS can improve the peripheral sensitivity of patients with HIV-PN, and secondly addresses practical aspects of using SENS in a therapeutic context. The vibrotactile sensitivity deficits of participants with HIV-PN and a matched control cohort is documented and analysed. It is found that HIV-PN participants have reduced sensitivity at all tested vibration frequencies (25 Hz, 50 Hz and 128 Hz), but especially at low frequencies. The interaction with vibration frequency indicates that HIV-PN may interact differently with different types of peripheral mechanoreceptors. SENS is then applied at four different amplitudes in an attempt to improve perception thresholds of the three vibration frequencies. SENS was shown to generally have a beneficial effect on 50 Hz vibration sensitivity for low SENS amplitudes. It had no effect, or a detrimental effect, at high SENS amplitudes, and also for 25 Hz and 128 Hz vibration frequencies. This work is also the first to document measures of pain with interventions of this type. No clear effects of SENS on sensations of pain were observed, which is a vital outcome if the therapy is to be developed further, since neuropathic pain is a frequent symptom of HIV-PN. The application of SENS as a practical therapy requires the accurate measurement of the participant’s electrical perception threshold, and a wearable device to apply the electrical signal on an ongoing basis. Research into the stability of electrical perception thresholds specifically aimed at subthreshold signals that would improve tactile sensitivity is presented. It was found that these thresholds vary wildly and correlated very little with possible explanatory variables, which introduces a new challenge for the development of SENS in future research. Currently there are no devices available to apply SENS in non-laboratory settings or for continuous use. The electronic design of a stimulator for using SENS as a wearable intervention is presented and characterised. The circuit is an efficient, low-power voltage to current converter that generates high voltages (120 V peak to peak) from a small, low-voltage rechargeable battery. The design and testing of control and instrumentation circuitry, as well as the addition of various safety and interface features is also documented. The battery life of the circuit is tested to operate for up to 33 hours and the circuit is tested to operate as expected in vivo. The results of this work demonstrate the potential viability of SENS as a therapy for HIV-PN, reveals the variability of electrical perception thresholds, explores the measures of pain for SENS interventions, and provides a complete and thoroughly tested design and implementation of an unparalleled electronic stimulator for nonlaboratory environments. The conclusions of this work form both a strong theoretical and practical basis for future SENS intervention research

Master of Science

thesisHaptic interactions with smartphones are generally restricted to vibrotactile feedback that offers limited distinction between delivered tactile cues. The lateral movement of a small, high-friction contactor at the fingerpad can be used to induce skin stretch tangent to the skin's surface. This method has been demonstrated to reliably communicate four cardinal directions with 1 mm translations of the device's contactor, when finger motion is properly restrained. While earlier research has used a thimble to restrain the finger, this interface has been made portable by incorporating a simple conical hole as a finger restraint. An initial portable device design used RC hobby servos and the conical hole finger restraint, but the shape and size of this portable device wasn't compatible with smartphone form factors. This design also had significant compliance and backlash that must be compensated for with additional control schemes. In contrast, this thesis presents the design, fabrication, and testing of a low-profile skin-stretch display (LPSSD) with a novel actuation design for delivering complex tactile cues with minimal backlash or hysteresis of the skin contactor or "tactor." This flatter mechanism features embedded sensors for fingertip cursor control and selection. This device's nonlinear tactor motions are compensated for using table look-up and high-frequency open-loop control to create direction cues with 1.8 mm radial tactor displacements in 16 directions (distributed evenly every 22.5°) before returning to center. Two LPSSDs are incorporated into a smartphone peripheral and used in single-handed and bimanual tests to identify 16 directions. Users also participated in "relative" identification tests where they were first provided a reference direction cue in the forward/north direction followed by the cue direction that they were to identify. Tests were performed with the user's thumbs oriented in the forward direction and with thumbs angled inward slightly, similar to the angledthumb orientation console game controllers. Users are found to have increased performance with an angled-thumb orientation. They performed similarly when stimuli were delivered to their right or left thumbs, and had significantly better performance judging direction cues with both thumbs simultaneously. Participants also performed slightly better in identifying the relative direction cues than the absolute