Spatially Distributed Tactile Feedback for Kinesthetic Motion Guidance

Apraxic stroke patients need to perform repetitive arm movements to regain motor functionality, but they struggle to process the visual feedback provided by typical virtual rehabilitation systems. Instead, we imagine a low cost sleeve that can measure the movement of the upper limb and provide tactile feedback at key locations. The feedback provided by the tactors should guide the patient through a series of desired movements by allowing him or her to feel limb configuration errors at each instant in time. After discussing the relevant motion capture and actuator options, this paper describes the design and programming of our current prototype, a wearable tactile interface that uses magnetic motion tracking and shaftless eccentric mass motors. The sensors and actuators are attached to the sleeve of an athletic shirt with novel plastic caps, which also help focus the vibration on the user\u27s skin. We connect the motors in current drive for improved performance, and we present a full parametric model for their in situ dynamic response (acceleration output given current input)

Separating haptic guidance from task dynamics: A practical solution via cutaneous devices

There is much interest in using haptic feedback for training new skills or guiding human movement. However, the results of studies that have incorporated haptic guidance to train new skills are mixed, depending on task complexity and the method by which the haptic guidance is implemented. Subjects show dependency on the guidance forces and difficulty in discerning which aspects of the haptic feedback are related to the task dynamics and which are meant to convey task completion strategies. For these reasons, new methods to separate haptic cues for guidance from haptic feedback of task dynamics are needed. In this experiment, 30 subjects completed a trajectory following task using a wrist exoskeleton which also rendered task forces. To assist subjects, guidance cues were provided in one of three forms: (1) cutaneous forces from a wearable skin-stretch device on the ipsilateral forearm and (2) contralateral forearm, and (3) kinesthetic forces from a kinematically similar wrist exoskeleton operated by the contralateral arm. The efficacies of each guidance condition are compared by examining subject performance and learning rates. The results indicate that cutaneous guidance is nearly as effective as kinesthetic guidance, making it a practical and cost-effective alternative for spatially separated assistance

Doctor of Philosophy

dissertationVirtual environments provide a consistent and relatively inexpensive method of training individuals. They often include haptic feedback in the form of forces applied to a manipulandum or thimble to provide a more immersive and educational experience. However, the limited haptic feedback provided in these systems tends to be restrictive and frustrating to use. Providing tactile feedback in addition to this kinesthetic feedback can enhance the user's ability to manipulate and interact with virtual objects while providing a greater level of immersion. This dissertation advances the state-of-the-art by providing a better understanding of tactile feedback and advancing combined tactilekinesthetic systems. The tactile feedback described within this dissertation is provided by a finger-mounted device called the contact location display (CLD). Rather than displaying the entire contact surface, the device displays (feeds back) information only about the center of contact between the user's finger and a virtual surface. In prior work, the CLD used specialized two-dimensional environments to provide smooth tactile feedback. Using polygonal environments would greatly enhance the device's usefulness. However, the surface discontinuities created by the facets on these models are rendered through the CLD, regardless of traditional force shading algorithms. To address this issue, a haptic shading algorithm was developed to provide smooth tactile and kinesthetic interaction with general polygonal models. Two experiments were used to evaluate the shading algorithm. iv To better understand the design requirements of tactile devices, three separate experiments were run to evaluate the perception thresholds for cue localization, backlash, and system delay. These experiments establish quantitative design criteria for tactile devices. These results can serve as the maximum (i.e., most demanding) device specifications for tactile-kinesthetic haptic systems where the user experiences tactile feedback as a function of his/her limb motions. Lastly, a revision of the CLD was constructed and evaluated. By taking the newly evaluated design criteria into account, the CLD device became smaller and lighter weight, while providing a full two degree-of-freedom workspace that covers the bottom hemisphere of the finger. Two simple manipulation experiments were used to evaluate the new CLD device

Drawing enhances cross-modal memory plasticity in the human brain: a case study in a totally blind adult

In a memory-guided drawing task under blindfolded conditions, we have recently used functional Magnetic Resonance Imaging (fMRI) to demonstrate that the primary visual cortex (V1) may operate as the visuo-spatial buffer, or “sketchpad,” for working memory. The results implied, however, a modality-independent or amodal form of its operation. In the present study, to validate the role of V1 in non-visual memory, we eliminated not only the visual input but all levels of visual processing by replicating the paradigm in a congenitally blind individual. Our novel Cognitive-Kinesthetic method was used to train this totally blind subject to draw complex images guided solely by tactile memory. Control tasks of tactile exploration and memorization of the image to be drawn, and memory-free scribbling were also included. FMRI was run before training and after training. Remarkably, V1 of this congenitally blind individual, which before training exhibited noisy, immature, and non-specific responses, after training produced full-fledged response time-courses specific to the tactile-memory drawing task. The results reveal the operation of a rapid training-based plasticity mechanism that recruits the resources of V1 in the process of learning to draw. The learning paradigm allowed us to investigate for the first time the evolution of plastic re-assignment in V1 in a congenitally blind subject. These findings are consistent with a non-visual memory involvement of V1, and specifically imply that the observed cortical reorganization can be empowered by the process of learning to draw

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

Cognitive science and epistemic openness

Recent findings in cognitive science suggest that the epistemic subject is more complex and epistemically porous than is generally pictured. Human knowers are open to the world via multiple channels, each operating for particular purposes and according to its own logic. These findings need to be understood and addressed by the philosophical community. The current essay argues that one consequence of the new findings is to invalidate certain arguments for epistemic anti-realism