Abstract
In order to perform activities such as pressing keys on a keyboard, checking whether a piece of fruit is ripe, determining whether a bike tire is low on air, and shaking another person’s hand, it is necessary to have an understanding of the object’s compliance, or the relationship between one’s applied force and the resulting change in position of one’s hand.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Atkins DJ, Heard DCY, Donovan WH (1996) Epidemiologic overview of individuals with upper-limb loss and their reported research priorities. J Prosthet Orthot 8(1):2–11
Avanzini F, Crosato P (2006) Haptic-auditory rendering and perception of contact stiffness. In: Proceedings of the first international conference on haptic and audio interaction design (HAID’06), pp 24–35
Bark K, Wheeler JW, Premakumar S, Cutkosky MR (2008) Comparison of skin stretch and vibrotactile stimulation for feedback of proprioceptive information. In Proceedings of the 16th international symposium on haptic interfaces for virtual environments and teleoperator systems, pp 71–78
Bastian HC (1887) The muscular sense; its nature and cortical localisation. Brain 10:1–89
Berryman LJ, Yao JM, Hsiao SS (2006) Representation of object size in the somatosensory system. J Neurophysiol 96(1):27–39
Bianchi M, Salaris P, Bicchi A (2012) Synergy-based optimal design of hand pose sensing. In 2012 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 3929–3935
Bicchi A, Scilingo EP, Rossi DD (2000) Haptic discrimination of softness in teleoperation: the role of the contact area spread rate. IEEE Trans Robot Autom 16(5):496–504
Binnard M, Cutkosky MR (2000) Design by composition for layered manufacturing. J Mech Des 122(1):91–101
Blank A, Okamura AM, Kuchenbecker KJ (2010) Identifying the role of proprioception in upper-limb prosthesis control: studies on targeted motion. ACM Trans Appl Percept, 7(3):15.1–15.23
Brewer BR, Fagan M, Klatzky RL, Matsuoka Y (2005) Perceptual limits for a robotic rehabilitation environment using visual feedback distortion. IEEE Trans Neural Syst Rehabili Eng 13(1):1–11
Brown JD, Gillespie RB, Gardner D, Gansallo, EA (2012) Co-location of force and action improves identification of force-displacement features. In: Proceedings of the IEEE haptics symposium, pp 187–193
Burke RE (2007) Sir charles sherrington’s the integrative action of the nervous system: a centenary appreciation. Brain 130:887–894
Casadio M, Pressman A, Fishbach A, Danziger Z, Acosta S, Chen D et al (2010) Body machine interface: remapping motor skills after spinal cord injury. Exp Brain Res 207:233–247
Chatterjee A (2007). Vibrotactile haptic feedback for advanced prostheses. Unpublished master’s thesis, Department of Biomedical Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218
Cheng A, Nichols KA, Weeks HM, Gurari N, Okamura AM (2012) Conveying the configuration of a virtual human hand using vibrotactile feedback. IEEE Haptics Symposium, pp 155–162
Chib VS, Krutky MA, Lynch KM, Mussa-Ivaldi FA (2009) The separate neural control of hand movements and contact forces. J Neurosci 29(12):3939–3947
Cholewiak RW, Collins AA (2003) Vibrotactile localization on the arm: Effects of place, space, and age. Percept Psychophys 65(7):1058–1077
Cipriani C, Zaccone F, Micera S, Carrozza MC (2008) On the shared control of an EMG-controlled prosthetic hand: Analysis of user-prosthesis interaction. IEEE Trans Robot 24(1):170–184
Cole J (1995) Pride and a daily marathon. The MIT Press, Massachusetts
Collins DF, Prochazka A (1996) Movement illusions evoked by ensemble cutaneous input from the dorsum of the human hand. J Physiol 496(3):857–871
Collins DF, Refshauge KM, Todd G, Gandevia SC (2005) Cutaneous receptors contribute to kinesthesia at the index finger, elbow, and knee. J Neurophysiol 94(3):1699–1706
Crapse TB, Sommer MA (2008) Corollary discharge across the animal kingdom. Nat Rev 9(8): 587–600
Dhillon GS, Horch KW (2005) Direct neural sensory feedback and control of a prosthetic arm. IEEE Trans Neural Syst Rehabilit Eng 13(4):468–472
Edin BB (2004) Quantitative analyses of dynamic strain sensitivity in human skin mechanoreceptors. J Neurophysiol 92(6):3233–3243
Ernst MO, Banks MS (2002) Humans integrate visual and haptic information in a statistically optimal fashion. Nature 415(6870):429–433
Gandevia SC, Smith JL, Crawford M, Proske U, Taylor JL (2006) Motor commands contribute to human position sense. J Physiol 571(3):703–710
Gescheider GA (1997) Psychophysics: the fundamentals, 3rd edn. Lawrence Erlbaum Associates Inc, UK
Ghez C, Gordon J, Ghilardi MF, Christakos CN, Cooper SE (1990) Roles of proprioceptive input in the programming of arm trajectories. In Cold spring harbor symposia on quantitative biology, pp 837–847
Gleeson BT, Horschel SK, Provancher WR (2009) Communication of direction through lateral skin stretch at the fingertip. Third joint eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems, pp 172–177
Gurari N, Kuchenbecker KJ, Okamura AM (2009) Stiffness discrimination with visual and proprioceptive cues. In Proceedings of the third joint eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems (ieee world haptics), pp 121–126
Gurari N, Kuchenbecker KJ, Okamura AM (2013) Perception of springs with visual and proprioceptive motion cues: Implications for prosthetics. IEEE Trans Hum Mach Syst 43(1):102–114
Gurari N, Smith K, Madhav M, Okamura AM (2009) Environment discrimination with vibration feedback to the foot, arm, and fingertip. In 11th international conference on rehabilitation robotics, pp 343–348
Gurari N, Wheeler J, Shelton A, Okamura AM (2012) Discrimination of springs with vision, proprioception, and artificial skin stretch cues. In Isokoski P, Springare J (Eds.), Haptics: perception, devices, mobility, and communication (Vol. 7282, pp. 160–172). Springer, Berlin Heidelberg
Horch K, Meek S, Taylor TG, Hutchinson DT (2011) Object discrimination with an artificial hand using electrical stimulation of peripheral tactile and proprioceptive pathways with intrafascicular electrodes. IEEE Trans Neural Syst Rehabilit Eng 19(5):483–489
Jones LA, Lockyer B, Piateski E (2006) Tactile display and vibrotactile pattern recognition on the torso. Adv Robot 20(12):1359–1374
Jones LA, Sarter NB (2008) Tactile displays: guidance for their design and application. Hum Factors 50:90–111
Kaczmarek KA, Webster JG, Bach-y-Rita P, Tompkins WJ (1991) Electrotactile and vibrotactile displays for sensory substitution systems. IEEE Trans Biomed Eng 38(1):1–16
Kajimoto H, Kawakami N, Maeda T, Tachi S (1999) Tactile feeling display using functional electrical stimulation. In: Proceedings of the 9th international conference on artificial reality and telexistence (ICAT), pp 107–114
Kelso JAS (1977) Motor control mechanisms underlying human movement reproduction. J Exp Psychol Hum Percept Perform 3(4):529–543
Kim K, Colgate JE (2012) Haptic feedback enhances grip force control of semg-controlled prosthetic hands in targeted reinnervation amputees. IEEE Trans Neural Syst Rehabil Eng 20(6):798–805
Kim K, Colgate JE, Santo-Munné JJ, Makhlin A, Peshkin MA (2010) On the design of miniature haptic devices for upper extremity prosthetics. IEEE/ASME Trans Mechatron 15(1):27–39
Kuiken TA, Marasco PD, Lock BA, Harden RN, Dewald JPA (2007) Redirection of cutaneous sensation from the hand to the chest skin of human amputees with targeted reinnervation. Proc the Nat Acad sci United States of America 104(50):20061–20066
Kuschel M, Luca MD, Buss M, Klatzky RL (2010) Combination and integration in the perception of visual-haptic compliance information. IEEE Trans Haptics 3(4):234–244
Larish DD, Volp CM, Wallace SA (1984) An empirical note on attaining a spatial target after distorting the initial conditions of movement via muscle vibration. J Mot Behav 16(1):76–83
Lecuyer A, Coquillart S, Kheddar A, Richard P, Coiffet P (2000) Pseudohaptic feedback: Can isometric input devices simulate force feedback? In: Proceedings of the ieee virtual reality, pp 83–90
MacLean KE (2009) Putting haptics into the ambience. Trans Haptics 2(3):123–135
Mann RW, Reimers SD (1970) Kinesthetic sensing for the EMG controlled Boston Arm. IEEE Trans Man Mach Syst 11:110–115
Matthews PBC (1982) Where does sherrington’s muscular sense originate? muscles, joints, corollary discharges. Ann Rev Neurosci 5:189–218
McCloskey DI (1978) Kinesthetic sensibility. Physiolo Rev 58(4):763–820
Merzenich MM, Harrington T (1969) The sense of flutter-vibration evoked by stimulation of the hairy skin on primates: comparison of human sensory capacity with the responses of mechanoreceptive afferents innervating the hairy skin on monkeys. Exp Brain Res 9:236–260
Mulatto S, Formaglio A, Malvezzi M, Prattichizzo D (2010) Animating a synergy-based deformable hand avatar for haptic grasping. Haptics: generating and perceiving tangible sensations lecture notes in computer science, vol 6192. Springer, Berlin Heidelberg, pp 203–210
Paljic A, Burkhardt J-M, Coquillart S (2004) Evaluation of pseudo-haptic feedback for simulating torque: a comparison between isometric and elastic input devices. In: Proceedings of the 12th international symposium on haptic interfaces for virtual environment and teleoperator systems, pp 216–223
Panarese A, Edin BB, Vecchi F, Johansson RS (2009) Humans can integrate force feedback to toes in their sensorimotor control of a robotic hand. IEEE Trans Neural Syst Rehabil Eng 17(6):560–567
Prattichizzo D, Pacchierotti C, Rosati G (2012) Cutaneous force feedback as a sensory substraction technique in haptics. IEEE Trans Haptics 5(4):289–300
Pressman A, Welty LJ, Karniel A, Mussa-Ivaldi FA (2007) Perception of delayed stiffness. Int J Robot Res 26(11–12):1191–1203
Pylatiuk C, Kargov A, Schulz S (2006) Design and evaluation of a low-cost force feedback system for myoelectric prosthetic hands. J Prosthet Orthot 18(2):57–61
Ramachandran VS, Rogers-Ramachandran D (1996) Synaesthesia in phantom limbs induced with mirrors. Pro Royal Soc London Ser B Biolo Sci 263(1369):377–386
Ramachandran VS, Rogers-Ramachandran D, Cobb S (1995) Touching the phantom limb. Nature 377:489–490
Riso RR (1999) Strategies for providing upper extremity amputees with tactile and hand position feedback - moving closer to the bionic arm. Technol Health Care 7(6):401–409
Riso R R, Ignagni AR (1985) Electrocutaneous sensory augmentation affords more precise shoulder position command generation for control of FNS orthoses. In: Proceedings of the annual conference on rehabilitation technology, pp 228–230
Rohland TA (1975) Sensory feedback for powered limb prostheses. Med Biolo Eng Comput 13(2):300–301
Schorr SB, Quek ZF, Romano RY, Nisky I, Provancher WR, Okamura AM (2013) Sensory substitution via cutaneous skin stretch feedback. IEEE international conference on robotics and automation (ICRA), pp 2333–2338
Scott RN, Brittain RH, Caldwell RR, Cameron AB, Dunfield VA (1980) Sensory-feedback system compatible with myoelectric control. Med Biolo Eng Comput 18:65–69
Shannon GF (1976) A comparison of alernative means of providing sensory feedback on upper limb prostheses. Med Biolo Eng 14:289
Srinivasan MA, Beauregard GL, Brock DL (1996) The impact of visual information on the haptic perception of stiffness in virtual environments. In Proceedings of the 5th international symposium on haptic interfaces for virtual environment and teleoperator systems, american society of mechanical engineers dynamic systems and control division, vol. 58, pp 555–559
Srinivasan MA, LaMotte RH (1995) Tactual discrimination of softnesss. J Neurophysiol 73(1):88–101
Stanley AA, Kuchenbecker KJ (2011) Design of body-grounded tactile actuators for playback of human physical contact. In Proceedings of the ieee world haptics conference, pp 563–568
Tan HZ, Pang XD, Durlach NI (1992) Manual resolution of length, force, and compliance. In: Proceedings of the 1st international symposium on haptic interfaces for virtual environment and teleoperator systems, American society of mechanical engineers dynamic systems and control division, vol 42, pp 13–18
Tan HZ, Srinivasan MA, Reed CM, Durlach NI (2007) Discrimination and identification of finger joint-angle position using active motion. ACM Trans Appl Percept 4(2):10
Taylor JL, McCloskey DI (1992) Detection of slow movements imposed at the elbow during active flexion in man. J Physiol 457:503–513
Thakur PH, Bastian AJ, Hsiao SS (2008) Multidigit movement synergies of the human hand in an unconstrained haptic exploration task. J Neurosci 28(6):1271–1281
Tiest WMB, Kappers AML (2009) Cues for haptic perception of compliance. IEEE Trans Haptics 2(4):189–199
Varadharajan V, Klatzky R, Unger B, Swendsen R, Hollis R (2008) Haptic rendering and psychophysical evaluation of a virtual three-dimensional helical spring. In Proceedings of the 16th international symposium on haptic interfaces for virtual environments and teleoperator systems, pp 57–64
Weinstein S (1968) Intensive and extensive aspects of tactile sensitivity as a function of body part, sex, and laterality. In: Kenshalo DR (ed), (chap. 10)
Wheeler J, Bark K, Savall J, Cutkosky M (2009) Investigation of rotational skin stretch for proprioceptive feedback with application to myoelectric prostheses. IEEE Trans Neural Syst Rehabili Eng 18(1):58–66
Witteveen HJ, Luft F, Rietman JS, Veltink, PH (2013) Stiffness feedback for myoelectric forearm prostheses using vibrotactile stimulation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, EPub ahead of print
Acknowledgments
The authors would like to acknowledge Katherine J. Kuchenbecker, Xin Alice Wu, Caroline A. Montojo, Jason Wheeler, Amy Shelton, Andrew Cheng, Kirk A. Nichols, Heidi M. Weeks, and Steven Hsiao for their contributions to the discussion and experiments presented in this chapter. Additionally, the authors thank Alessandra Sciutti for reviewing and providing feedback on the manuscript. Financial support for the work presented here was provided by a National Science Foundation Graduate Fellowship, the Johns Hopkins University Applied Physics Laboratory under the DARPA Revolutionizing Prosthetics program, contract N66001-06-C-8005, Johns Hopkins University Brain Science Institute, a travel award from the IEEE Technical Committee on Haptics, Stanford University, and Istituto Italiano di Tecnologia.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag London
About this chapter
Cite this chapter
Gurari, N., Okamura, A.M. (2014). Compliance Perception Using Natural and Artificial Motion Cues. In: Di Luca, M. (eds) Multisensory Softness. Springer Series on Touch and Haptic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-6533-0_10
Download citation
DOI: https://doi.org/10.1007/978-1-4471-6533-0_10
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-6532-3
Online ISBN: 978-1-4471-6533-0
eBook Packages: Computer ScienceComputer Science (R0)