W-FYD: a Wearable Fabric-based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality

Despite the importance of softness, there is no evidence of wearable haptic systems able to deliver controllable softness cues. Here, we present the Wearable Fabric Yielding Display (W-FYD), a fabric-based display for multi-cue delivery that can be worn on user's finger and enables, for the first time, both active and passive softness exploration. It can also induce a sliding effect under the finger-pad. A given stiffness profile can be obtained by modulating the stretching state of the fabric through two motors. Furthermore, a lifting mechanism allows to put the fabric in contact with the user's finger-pad, to enable passive softness rendering. In this paper, we describe the architecture of W-FYD, and a thorough characterization of its stiffness workspace, frequency response and softness rendering capabilities. We also computed device Just Noticeable Difference in both active and passive exploratory conditions, for linear and non-linear stiffness rendering as well as for sliding direction perception. The effect of device weight was also considered. Furthermore, performance of participants and their subjective quantitative evaluation in detecting sliding direction and softness discrimination tasks are reported. Finally, applications of W-FYD in tactile augmented reality for open palpation are discussed, opening interesting perspectives in many fields of human-machine interaction

My social comfort zone: Attachment anxiety shapes peripersonal and interpersonal space

Following positive social exchanges, the neural representation of interactive space around the body (peripersonal space; PPS) expands, while we also feel consciously more comfortable being closer to others (interpersonal distance; ID). However, it is unclear how relational traits, such as attachment styles, interact with the social malleability of our PPS and ID. A first, exploratory study (N=48) using a visuo-tactile, augmented reality task, found that PPS depended on the combined effects of social context and attachment anxiety. A follow-up preregistered study (N=68), showed that those with high attachment anxiety show a sharper differentiation between peripersonal and extrapersonal space, even in a non-social context. A final, preregistered, large-scale survey (N=19,417), found that people scoring high in attachment anxiety prefer closer ID and differentiate their ID less based on feelings of social closeness. We conclude that attachment anxiety reduces the social malleability of both peripersonal and interpersonal space

Modulating the Perceived Softness of Real Objects Through Wearable Feel-Through Haptics

In vision, Augmented Reality (AR) allows the superposition of digital content on real-world visual information, relying on the well-established See-through paradigm. In the haptic domain, a putative Feel-through wearable device should allow to modify the tactile sensation without masking the actual cutaneous perception of the physical objects. To the best of our knowledge, a similar technology is still far to be effectively implemented. In this work, we present an approach that allows, for the first time, to modulate the perceived softness of real objects using a Feel-through wearable that uses a thin fabric as interaction surface. During the interaction with real objects, the device can modulate the growth of the contact area over the fingerpad without affecting the force experienced by the user, thus modulating the perceived softness. To this aim, the lifting mechanism of our system warps the fabric around the fingerpad in a way proportional to the force exerted on the specimen under exploration. At the same time, the stretching state of the fabric is controlled to keep a loose contact with the fingerpad. We demonstrated that different softness perceptions for the same specimens can be elicited, by suitably controlling the lifting mechanism of the system

A fabric-based approach for wearable haptics

In recent years, wearable haptic systems (WHS) have gained increasing attention as a novel and exciting paradigm for human-robot interaction (HRI).These systems can be worn by users, carried around, and integrated in their everyday lives, thus enabling a more natural manner to deliver tactile cues.At the same time, the design of these types of devices presents new issues: the challenge is the correct identification of design guidelines, with the two-fold goal of minimizing system encumbrance and increasing the effectiveness and naturalness of stimulus delivery.Fabrics can represent a viable solution to tackle these issues.They are specifically thought “to be worn”, and could be the key ingredient to develop wearable haptic interfaces conceived for a more natural HRI.In this paper, the author will review some examples of fabric-based WHS that can be applied to different body locations, and elicit different haptic perceptions for different application fields.Perspective and future developments of this approach will be discussed

My Social Comfort Zone: Attachment Anxiety Shapes Peripersonal and Interpersonal Space

Our perception of our personal space extends beyond the body to incorporate the space where inter-actions with the environment occur, i.e. peripersonal space (PPS), and the distance we feel comforta-ble in maintaining while interacting with other people, termed interpersonal space. Studies suggest that after positive interpersonal exchanges, PPS expands in order to create a space for interaction, while interpersonal space becomes smaller. However, little is known about how this malleability of our peripersonal and interpersonal space based on social context can be shaped by key individual traits of interpersonal relating, such as attachment style. In a first, exploratory study (N=48) using a visuo-tactile detection task in augmented reality, we found that when people scoring higher in attachment anxiety are in the presence of a stranger, relative to alone, their PPS becomes less defined, whereas the reverse pattern is observed in people scoring lower in attachment anxiety. In a follow-up, prereg-istered study (N=68), targeting individuals with high versus low levels of attachment anxiety, we found that the former has a sharp differentiation between peripersonal and extrapersonal space not only in a social context (i.e., presence of a stranger) but also in a non-social context. In a final, pre-registered, large-scale survey of the UK population (N=19,417), we enquired about the role of at-tachment anxiety in a self-report measure of the interpersonal distance people felt comfortable with during habitual conversion and as expected, we found that the greater the anxiety the closer the pre-ferred interpersonal distance, irrespective of their perceived social closeness to others. We conclude that attachment anxiety reduces the social malleability of both peripersonal and interpersonal space

Hybrid Simulation and Planning Platform for Cryosurgery with Microsoft HoloLens

Cryosurgery is a technique of growing popularity involving tissue ablation under controlled freezing. Technological advancement of devices along with surgical technique improvements have turned cryosurgery from an experimental to an established option for treating several diseases. However, cryosurgery is still limited by inaccurate planning based primarily on 2D visualization of the patient's preoperative images. Several works have been aimed at modelling cryoablation through heat transfer simulations; however, most software applications do not meet some key requirements for clinical routine use, such as high computational speed and user-friendliness. This work aims to develop an intuitive platform for anatomical understanding and pre-operative planning by integrating the information content of radiological images and cryoprobe specifications either in a 3D virtual environment (desktop application) or in a hybrid simulator, which exploits the potential of the 3D printing and augmented reality functionalities of Microsoft HoloLens. The proposed platform was preliminarily validated for the retrospective planning/simulation of two surgical cases. Results suggest that the platform is easy and quick to learn and could be used in clinical practice to improve anatomical understanding, to make surgical planning easier than the traditional method, and to strengthen the memorization of surgical planning

Wearable Augmented Reality Application for Shoulder Rehabilitation

Augmented reality (AR) technology is gaining popularity and scholarly interest in the rehabilitation sector because of the possibility to generate controlled, user-specific environmental and perceptual stimuli which motivate the patient, while still preserving the possibility to interact with the real environment and other subjects, including the rehabilitation specialist. The paper presents the first wearable AR application for shoulder rehabilitation, based on Microsoft HoloLens, with real-time markerless tracking of the user’s hand. Potentialities and current limits of commercial head-mounted displays (HMDs) are described for the target medical field, and details of the proposed application are reported. A serious game was designed starting from the analysis of a traditional rehabilitation exercise, taking into account HoloLens specifications to maximize user comfort during the AR rehabilitation session. The AR application implemented consistently meets the recommended target frame rate for immersive applications with HoloLens device: 60 fps. Moreover, the ergonomics and the motivational value of the proposed application were positively evaluated by a group of five rehabilitation specialists and 20 healthy subjects. Even if a larger study, including real patients, is necessary for a clinical validation of the proposed application, the results obtained encourage further investigations and the integration of additional technical features for the proposed AR application