Haptic ankle platform for interactive walking in virtual reality.

This paper presents an impedance type ankle haptic interface for providing users with an immersive navigation experience in virtual reality (VR). The ankle platform actuated by an electric motor with feedback control enables the use of foot-tapping gestures to create a walking experience similar to a real one and to haptically render different types of walking terrains. Experimental studies demonstrated that the interface can be easily used to generate virtual walking and it is capable to render terrains such as hard and soft surfaces, and multi-layer complex dynamic terrains. The designed system is a seated-type VR locomotion interface, therefore allowing its user to maintain a stable seated posture to comfortably navigate a virtual scene

Multimodality in VR: A survey

Virtual reality (VR) is rapidly growing, with the potential to change the way we create and consume content. In VR, users integrate multimodal sensory information they receive, to create a unified perception of the virtual world. In this survey, we review the body of work addressing multimodality in VR, and its role and benefits in user experience, together with different applications that leverage multimodality in many disciplines. These works thus encompass several fields of research, and demonstrate that multimodality plays a fundamental role in VR; enhancing the experience, improving overall performance, and yielding unprecedented abilities in skill and knowledge transfer

ReLiPh: rehabilitation for lower limb with phantom pain

O membro fantasma ou sensação fantasma, ao longo dos anos, têm se destacado por ser originada de diferentes causas. Pesquisas e estudos mostram que, após uma amputação, na maioria dos casos, experienciam a sensação de membro fantasma e em muitos desses casos dolorosos. A presente tese baseia-se em uma pequena parte deste amplo tópico. Baseada na terapia de espelho usada na reabilitação e tratamento da dor fantasma. Ao longo do projeto, nós estudamos quais são os componentes mais relevantes para a reorganização/reestruturação, a fim de eliminar os sintomas negativos e futuros distúrbios/perturbações. Associada na relação do cérebro com o corpo, ou seja, as imagens formadas pelo cérebro em relação ao corpo físico desempenhando um papel crucial na relação do membro fantasma e da dor no membro fantasma, bem como no processo de cura e tratamento através de exercícios e no relacionamento da imagem que o cérebro tem do corpo físico. Esta dissertação tem como objetivo na construção de uma nova abordagem tecnológica, baseando-se nos princípios e critérios utilizados na terapia de espelho. A metodologia assenta na criação de um ambiente de realidade virtual controlado por um dispositivo que captura a atividade muscular em tempo real. Implementado num jogo baseado em movimentos/exercícios simples e naturais, sem uso de força ou esforço. Os elevados resultados verificados e testados, em indivíduos saudáveis e em um estudo de caso, na redução da dor fantasma, gerando um interesse e motivação, além de um melhor senso de presença e foco durante o seu uso. Concluindo, o projeto abre novas direções futuras de como novas abordagens tecnológicas podem ser usados nas pesquisas médicas na área do membro e na dor fantasma, em ambientes controlados e contextualizados. Melhorando a eficácia e eficiência, garantindo uma maior flexibilidade nos diferentes casos de amputação.The phantom limb or phantom sensation, over the years, has stood out being originated from different causes. Research and studies show that after an amputation, in most cases, they experience the sensation of a phantom limb and in many of those painful feelings. This thesis is based on a small part of this wide topic. Based on the mirror therapy used in rehabilitation and treatment for phantom pain. Throughout the project, we study what are the most relevant components to reorganization/restructuring in order to eliminate negative symptoms and future disturbances. Moreover it is established in the relationship of the brain with the body, that the images formed by the brain in relation to the physical body play a crucial role in the relationship with the phantom limb and phantom limb pain, as well as in the process of healing and treatment throughout exercises and the relationship of the image that the brain has to the physical body. This dissertation aims to build a new technological approach, based on the principles and criteria used in mirror therapy. The methodology is based on the creation of a virtual reality environment controlled by a device which captures the muscle activity in real time. Implemented in a game based on natural and simple effortless exercises without the use of strength. The high results verified and tested, in healthy subjects and in a case study, to reduce phantom pain, generating an interest and motivation, as well as a better sense of presence and focus during its use. In conclusion, the project opens up new future directions of how new technological approaches can be used in medical research in the field of phantom limbs and in phantom pain, in a controlled and contextualized environments and/or movements. Improving effectiveness and efficiency ensuring greater flexibility in different cases of amputation

Ankle-Actuated Human-Machine Interface for Walking in Virtual Reality

This thesis work presents design, implementation and experimental study of an impedance type ankle haptic interface for providing users with the immersive navigation experience in virtual reality (VR). The ankle platform enables the use of foot-tapping gestures to reproduce realistic walking experience in VR and to haptically render different types of walking terrains. The system is designed to be used by seated users allowing more comfort, causing less fatigue and motion sickness. The custom-designed ankle interface is composed of a single actuator-sensors system making it a cost-efficient solution for VR applications. The designed interface consists of a single degree of freedom actuated platform which can rotate around the ankle joint of the user. The platform is impedance controlled around the horizontal position by an electric motor and capstan transmission system. to perform walking in a virtual scene, a seated user is expected to perform walking gestures in form of ankle plantar-flexion and dorsiflexion movements causing the platform to tilt forward and backward. We present three algorithms for simulating the immersive locomotion of a VR avatar using the platform movement information. We also designed multiple impedance controllers to render haptic feedback for different virtual terrains during walking. We carried out experiments to understand how quickly users adapt to the interface, how well they can control their locomotion speed in VR, and how well they can distinguish different types of terrains presented through haptic feedback. We implemented qualitative questionnaires on the usability of the device and the task load of the experimental procedures. The experimental studies demonstrated that the interface can be easily used to navigate in VR and it is capable of rendering dynamic multi-layer complex terrains containing structures with different stiffness and brittleness properties

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

Investigating the User Experience of a Virtual Reality Rehabilitation Solution for a Biomechatronics Laboratory and Home Environment

publishedVersio

Ubiquitous haptic feedback in human-computer interaction through electrical muscle stimulation

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