Abstract
In recent years, there has been a growing demand for technology to deliver haptic experiences related to skills remotely. This study attempts to reproduce the spatial pattern of vibrations generated at the wrist using a bracelet-type device equipped with multiple sensors and vibrators to convey haptic experiences of tool motions. First, we measured the frequency response characteristics of the propagation of vibrations applied to the fingertips to the wrist and confirmed that high frequencies above 1000 Hz could propagate to the wrist position. Then, we measured the tool and the wrist vibration at multiple points during multiple haptic movements. The relationship between the ability to discriminate between different haptic-related movements and spatial distribution reproduction is investigated by comparing the case of spatial reproduction at the wrist with a conventional tool-mounted device. The effect of the ISM method, which can modulate the waveform to a lower frequency while maintaining the original sensation, is also investigated. Results of discrimination experiments indicate that reproduction of the spatial distribution by vibration stimulation of multiple points on the wrist improves discrimination of different rotational directions and that ISM further improves discrimination of rotational directions compared to the raw signal.
This paper is based on results obtained from a project, JPNP21004, commissioned by the New Energy and Industrial Technology Development Organization (NEDO).
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Bensmaia, S., Hollis, M., Yau, J.: Vibrotactile intensity and frequency information in the Pacinian system: a psychophysical model. Percept. Psychophysics 67, 828–841 (2005). https://doi.org/10.3758/bf03193536
Cao, N., Konyo, M., Nagano, H., Tadokoro, S.: Dependence of the perceptual discrimination of high-frequency vibrations on the envelope and intensity of waveforms. IEEE Access 7, 20840–20849 (2019). https://doi.org/10.1109/ACCESS.2019.2898029
Gongora, D., Konyo, M., Nagano, H., Tadokoro, S.: Haptic exploration during fast video playback: vibrotactile support for event search in robot operation videos. IEEE Trans. Haptics 13(2), 436–447 (2019). https://doi.org/10.1109/TOH.2019.2957792
Gongora, D., Nagano, H., Konyo, M., Tadokoro, S.: Vibrotactile rendering of camera motion for bimanual experience of first-person view videos. In: 2017 IEEE World Haptics Conference (WHC), pp. 454–459. IEEE (2017). https://doi.org/10.1109/WHC.2017.7989944
Higashi, K., Okamoto, S., Yamada, Y., Nagano, H., Konyo, M.: Hardness perception based on dynamic stiffness in tapping. Front. Psychol. 9, 2654 (2019). https://doi.org/10.3389/fpsyg.2018.02654
Koehn, J.K., Kuchenbecker, K.J.: Surgeons and non-surgeons prefer haptic feedback of instrument vibrations during robotic surgery. Surg. Endosc. 29(10), 2970–2983 (2015). https://doi.org/10.1007/S00464-014-4030-8
Konyo, M., Yamada, H., Okamoto, S., Tadokoro, S.: Alternative display of friction represented by tactile stimulation without tangential force. In: Ferre, M. (ed.) Haptics: Perception, Devices and Scenarios. EuroHaptics 2008, Lecture Notes in Computer Science, vol. 5024, pp. 619–629. Springer, Berlin Heidelberg, Berlin, Heidelberg (jun (2008). https://doi.org/10.1007/978-3-540-69057-3_79
Kuchenbecker, K., Fiene, J., Niemeyer, G.: Improving contact realism through event-based haptic feedback. IEEE Trans. Visual Comput. Graphics 12(2), 219–230 (2006). https://doi.org/10.1109/TVCG.2006.32
Lee, J., Choi, S.: Real-time perception-level translation from audio signals to vibrotactile effects. In: Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, pp. 2567–2576 (2013). https://doi.org/10.1145/2470654.2481354
Lim, J.M., Lee, J.U., Kyung, K.U., Ryou, J.C.: An audio-haptic feedbacks for enhancing user experience in mobile devices. In: 2013 IEEE International Conference on Consumer Electronics (ICCE), pp. 49–50 (2013). https://doi.org/10.1109/ICCE.2013.6486790
Manfredi, L.R., et al.: The effect of surface wave propagation on neural responses to vibration in primate glabrous skin. PLoS ONE 7(2), e31203 (2012). https://doi.org/10.1371/JOURNAL.PONE.0031203
McMahan, W., Kuchenbecker, K.J.: Haptic display of realistic tool contact via dynamically compensated control of a dedicated actuator. In: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 3170–3177 (2009). https://doi.org/10.1109/IROS.2009.5354607
Minamizawa, K., Kakehi, Y., Nakatani, M., Mihara, S., Tachi, S.: Techtile toolkit: A prototyping tool for designing haptic media. In: ACM SIGGRAPH 2012 Emerging Technologies, SIGGRAPH 2012, pp. 387–392 (2012). https://doi.org/10.1145/2343456.2343478
Nagano, H., Takenouchi, H., Cao, N., Konyo, M., Tadokoro, S.: Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots. Adv. Robot. 34(11), 730–743 (2020). https://doi.org/10.1080/01691864.2020.1769725
Okamura, A., Cutkosky, M., Dennerlein, J.: Reality-based models for vibration feedback in virtual environments. IEEE/ASME Trans. Mechatron. 6(3), 245–252 (2001). https://doi.org/10.1109/3516.951362
Saal, H.P., Delhaye, B.P., Rayhaun, B.C., Bensmaia, S.J.: Simulating tactile signals from the whole hand with millisecond precision. Proc. Natl. Acad. Sci. USA. 114, E5693–E5702 (2017). https://doi.org/10.1073/PNAS.1704856114
Sakata, S., Nagano, H., Konyo, M., Tadokoro, S.: Multipoint vibrotactile stimuli based on vibration propagation enhance collision sensation. In: EuroHaptics 2016: Haptics: Perception, Devices, Control, and Applications, Lecture Notes in Computer Science, vol. 9775, pp. 65–74. Springer International Publishing (2016). https://doi.org/10.1007/978-3-319-42324-1
Shao, Y., Hayward, V., Visell, Y.: Spatial patterns of cutaneous vibration during whole-hand haptic interactions. Proc. Natl. Acad. Sci. USA. 113, 4188–4193 (2016). https://doi.org/10.1073/PNAS.1520866113
Yamaguchi, K., Konyo, M., Tadokoro, S.: Sensory equivalence conversion of high-frequency vibrotactile signals using intensity segment modulation method for enhancing audiovisual experience. In: 2021 IEEE World Haptics Conference (WHC), pp. 674–679 (2021). https://doi.org/10.1109/WHC49131.2021.9517147
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Yamaguchi, K., Waga, M., Konyo, M., Tadokoro, S. (2023). Improvement of Discrimination of Haptic Motion Experience by Reproducing Multi-point Spatial Distribution of Propagated Vibrations at the Wrist. In: Wang, D., et al. Haptic Interaction. AsiaHaptics 2022. Lecture Notes in Computer Science, vol 14063. Springer, Cham. https://doi.org/10.1007/978-3-031-46839-1_12
Download citation
DOI: https://doi.org/10.1007/978-3-031-46839-1_12
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-46838-4
Online ISBN: 978-3-031-46839-1
eBook Packages: Computer ScienceComputer Science (R0)