Saraç Stroppa, Mine
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Name Variants
Saraç Stroppa, Mine
Saraç M.
Sarac Stroppa, Mine
Saraç Stroppa,M.
SARAÇ STROPPA, Mine
Sarac Stroppa,Mine
Mine Saraç Stroppa
MINE SARAÇ STROPPA
Saraç Stroppa, MINE
Sarac Stroppa,M.
S.,Mine
M. Saraç Stroppa
Mine SARAÇ STROPPA
Saraç Stroppa, M.
S., Mine
Mine, Sarac Stroppa
SARAÇ STROPPA, MINE
Sarac, Mine
Stroppa, Mine Saraç
Stroppa, Mine Sarac
Saraç M.
Sarac Stroppa, Mine
Saraç Stroppa,M.
SARAÇ STROPPA, Mine
Sarac Stroppa,Mine
Mine Saraç Stroppa
MINE SARAÇ STROPPA
Saraç Stroppa, MINE
Sarac Stroppa,M.
S.,Mine
M. Saraç Stroppa
Mine SARAÇ STROPPA
Saraç Stroppa, M.
S., Mine
Mine, Sarac Stroppa
SARAÇ STROPPA, MINE
Sarac, Mine
Stroppa, Mine Saraç
Stroppa, Mine Sarac
Job Title
Dr. Öğr. Üyesi
Email Address
mine.sarac@khas.edu.tr
ORCID ID
Scopus Author ID
Turkish CoHE Profile ID
Google Scholar ID
WoS Researcher ID
Scholarly Output
18
Articles
3
Citation Count
0
Supervised Theses
2
18 results
Scholarly Output Search Results
Now showing 1 - 10 of 18
Article Citation Count: 0Hand Dominance and Congruence for Wrist-Worn Haptics Using Custom Voice-Coil Actuation(Ieee-inst Electrical Electronics Engineers inc, 2024) Adeyemi, Ayoade; Sen, Umit; Ercan, Samet Mert; Sarac, MineDuring virtual interactions, rendering haptic feedback on a remote location (like the wrist) instead of the fingertips frees users' hands from mechanical devices. This allows for real interactions while still providing information about the mechanical properties of virtual objects. In this letter, we investigate the impact of using the dominant or non-dominant hand for virtual interactions and the best mapping between the active hand and the wrist receiving the haptic feedback, which can be defined as hand-wrist congruence through a user experiment based on a stiffness discrimination task. To render force feedback, we present CoWrHap - a novel wrist-worn haptic device with custom-made voice coil actuation. Our results show that participants performed the tasks (i) better with non-congruent mapping but reported better experiences with congruent mapping, and (ii) with no statistical difference in terms of hand dominance but with better user experience (enjoyment, pleasantness, etc.) using their dominant hands.Conference Object Citation Count: 1The Impact of Haptic Feedback During Sudden, Rapid Virtual Interactions(Ieee, 2023) Tanacar, Nizamettin T.; Mughrabi, Moaaz H.; Batmaz, Anil U.; Leonardis, Daniele; Sarac, MineHaptic feedback is known to improve the realism and the performance of virtual tasks during manipulation or teleoperation tasks. However, these benefits might depend on the nature of virtual tasks or the intensity of haptic rendering. In this paper, we focused on the impact of the presence and the intensity of the haptic stimulus during sudden, rapid virtual interactions through a variation of an ISO 9241:411 - task instead of calm, exploration-based interactions. We conducted a user study where the haptic stimulus is rendered through a realistic 1-DoF fingertip haptic device with different intensity levels (full-strength, half-strength, and no-strength) as they are asked to choose highlighted targets on a 6-by-5 grid as fast and correctly as possible. Our results show that haptic feedback did not significantly affect user performance regarding time, throughput, or the nature of the selection behavior. However, participants made significantly more errors when haptic feedback was present in half-strength compared to full-strength and no-strength conditions. In the post-experiment questionnaire, participants reported having favored haptic feedback in full strength in terms of perceived realism, enjoyment, and immersion.Review Citation Count: 1Optimizing Exoskeleton Design with Evolutionary Computation: An Intensive Survey(Mdpi, 2023) Stroppa, Fabio; Soylemez, Aleyna; Yuksel, Huseyin Taner; Akbas, Baris; Sarac, MineExoskeleton devices are designed for applications such as rehabilitation, assistance, and haptics. Due to the nature of physical human-machine interaction, designing and operating these devices is quite challenging. Optimization methods lessen the severity of these challenges and help designers develop the device they need. In this paper, we present an extensive and systematic literature search on the optimization methods used for the mechanical design of exoskeletons. We completed the search in the IEEE, ACM, and MDPI databases between 2017 and 2023 using the keywords exoskeleton, design, and optimization. We categorized our findings in terms of which limb (i.e., hand, wrist, arm, or leg) and application (assistive, rehabilitation, or haptic) the exoskeleton was designed for, the optimization metrics (force transmission, workspace, size, and adjustability/calibration), and the optimization method (categorized as evolutionary computation or non-evolutionary computation methods). We discuss our observations with respect to how the optimization methods have been implemented based on our findings. We conclude our paper with suggestions for future research.Review Citation Count: 0Optimizing soft robot design and tracking with and without evolutionary computation: an intensive survey(Cambridge Univ Press, 2024) Stroppa, Fabio; Majeed, Fatimah Jabbar; Batiya, Jana; Baran, Eray; Sarac, MineSoft robotic devices are designed for applications such as exploration, manipulation, search and rescue, medical surgery, rehabilitation, and assistance. Due to their complex kinematics, various and often hard-to-define degrees of freedom, and nonlinear properties of their material, designing and operating these devices can be quite challenging. Using tools such as optimization methods can improve the efficiency of these devices and help roboticists manufacture the robots they need. In this work, we present an extensive and systematic literature search on the optimization methods used for the mechanical design of soft robots, particularly focusing on literature exploiting evolutionary computation (EC). We completed the search in the IEEE, ACM, Springer, SAGE, Elsevier, MDPI, Scholar, and Scopus databases between 2009 and 2024 using the keywords "soft robot," "design," and "optimization." We categorized our findings in terms of the type of soft robot (i.e., bio-inspired, cable-driven, continuum, fluid-driven, gripper, manipulator, modular), its application (exploration, manipulation, surgery), the optimization metrics (topology, force, locomotion, kinematics, sensors, and energy), and the optimization method (categorized as EC or non-EC methods). After providing a road map of our findings in the state of the art, we offer our observations concerning the implementation of the optimization methods and their advantages. We then conclude our paper with suggestions for future research.Conference Object Citation Count: 0EyeGuide & EyeConGuide: Gaze-based Visual Guides to Improve 3D Sketching Systems(Assoc Computing Machinery, 2024) Turkmen, Rumeysa; Gelmez, Zeynep Ecem; Batmaz, Anil Ufuk; Stuerzlinger, Wolfgang; Asente, Paul; Sarac, MineVisual guides help to align strokes and raise accuracy in Virtual Reality (VR) sketching tools. Automatic guides that appear at relevant sketching areas are convenient to have for a seamless sketching with a guide. We explore guides that exploit eye-tracking to render them adaptive to the user's visual attention. EYEGUIDE and EYECONGUIDE cause visual grid fragments to appear spatially close to the user's intended sketches, based on the information of the user's eye-gaze direction and the 3D position of the hand. Here we evaluated the techniques in two user studies across simple and complex sketching objectives in VR. The results show that gaze-based guides have a positive effect on sketching accuracy, perceived usability and preference over manual activation in the tested tasks. Our research contributes to integrating gaze-contingent techniques for assistive guides and presents important insights into multimodal design applications in VR.Article Citation Count: 6Perceived Intensities of Normal and Shear Skin Stimuli Using a Wearable Haptic Bracelet(IEEE-Inst Electrical Electronics Engineers Inc, 2022) Sarac, Mine; Huh, Tae Myung; Choi, Hojung; Cutkosky, Mark R.; Di Luca, Massimiliano; Okamura, Allison M.Our aim is to provide effective interaction with virtual objects, despite the lack of co-location of virtual and real-world contacts, while taking advantage of relatively large skin area and ease of mounting on the forearm. We performed two human participant studies to determine the effects of haptic feedback in the normal and shear directions during virtual manipulation using haptic devices worn near the wrist. In the first study, participants performed significantly better while discriminating stiffness values of virtual objects when the feedback consisted of normal displacements compared to shear displacements. Participants also commented that they could detect normal cues much easier than shear, which motivated us to perform a second study to find the point of subjective equality (PSE) between normal and shear stimuli. Our results show that shear stimuli require a larger actuator displacement but less force than normal stimuli to achieve perceptual equality for our haptic bracelets. We found that normal and shear stimuli cannot be equalized through skin displacement nor the interaction forces across all users. Rather, a calibration method is needed to find the point of equality for each user where normal and shear stimuli create the same intensity on the user's skin.Conference Object Citation Count: 0Effect of Hand and Object Visibility in Navigational Tasks Based on Rotational and Translational Movements in Virtual Reality(Ieee Computer Soc, 2024) Hatira, Amal; Gelmez, Zeynep Ecem; Batmaz, Anil Ufuk; Sarac, MineDuring object manipulation in Virtual Reality (VR) systems, realistically visualizing avatars and objects can hinder user performance and experience by complicating the task or distracting the user from the environment due to possible occlusions. Users might feel the urge to go through biomechanical changes, such as re-positioning the head to visualize the interaction area. In this paper, we investigate the effect of hand avatar and object visibility in navigational tasks using a VR headset. We performed two user studies where participants grasped a small, cylindrical object and navigated it through the virtual obstacles performing rotational or translational movements. We used three different visibility conditions for the hand avatar (opaque, transparent, and invisible) and two conditions for the object (opaque and transparent). Our results indicate that participants performed faster and with fewer collisions using the invisible and transparent hands compared to the opaque hand and fewer collisions with the opaque object compared to the transparent one. Furthermore, participants preferred to use the combination of the transparent hand avatar with the opaque object. The findings of this study might be useful to researchers and developers in deciding the visibility/transparency conditions of hand avatars and virtual objects for tasks that require precise navigational activities.Master Thesis Gerçeklı̇k İle Artırılmış Gerçeklı̇ğı̇n Karşılaştırılması: El-göz Koordı̇nasyonu ve Sertlı̇k Ayrımı Üzerı̇ne(2024) Alıza, Alıza; Stroppa, Mine SaraçBu tez 2 kullanıcı çalışmasından oluşmaktadır. İlk çalışma için Fitts yasasına dayalı bir El-Göz Koordinasyon Eğitimi (EHCT) sistemi tasarlanmıştır. Bu çalışmada kullanıcı motor performansı uzun süreli bir çalışma kapsamında Sanal Gerçeklik (VR), Artırılmış Gerçeklik (AR) ve 2 boyutlu (2D) dokunmatik ekran kullanırken karşılaştırılmıştır. Yirmi katılımcının motor performansını, doğruluk, hassasiyet, hız, hata oranı ve hiçbirine odaklanan beş görev talimatı kullanarak on günlük bir kullanıcı çalışması boyunca inceledik. Çalışmanın bulguları, her bir görev talimatının katılımcıların bir veya daha fazla psikomotor özelliği üzerinde benzersiz bir etkiye sahip olduğunu ortaya koyarak özelleştirilmiş eğitim sistemlerinin önemini vurgulamıştır. Çeşitli ekran teknolojilerini incelediğimizde, çoğu katılımcının VR kullanırken gösterdiği performans gelişimlerinin 2D veya AR kullanmaya kıyasla daha iyi olduğunu gözlemledik. Ayrıca, EHCT sistemlerinde genel motor performansının gelişimini izlemek için etkili bir verimliliğin mükemmel bir seçim olabileceğini bulduk. İkinci çalışma için ise, iki farklı ortamda dokunsal geri bildirim sağlarken algı ve performanstaki farklılıkları araştırmak için tasarlanmıştır: VR ve AR. Bu kullanıcı çalışmasında, katılımcılar aynı görünen ancak farklı sertlik seviyelerine sahip sanal kutularla etkileşime girmiş ve Doğrusal Motor tabanlı bileğe takılan Haptik cihaz (LAWrHap) aracılığıyla aldıkları haptik geri bildirime dayanarak daha yüksek sertlik seviyesine sahip nesneleri belirleyebilmişlerdir. Bu çalışmanın bulguları, dokunsal geribildirimin VR ve AR sistemlerine entegre edilmesinin, VR ile karşılaştırıldığında, hassasiyeti ve verimliliği artıran gerçek dünya bağlamsal ipuçları sayesinde görev performansını ve algısını geliştirdiğini ortaya koymuştur. Doğruluk ve hassasiyet ortamlar arasında benzer olsa da VR veya AR kullanmak bilişsel yükün azaltılması ve daha etkili kullanıcı etkileşimleri açısından farklı avantajlar sunmuştur. Anahtar Sözcükler: Sanal Gerçeklik Etkileşimleri, Artırılmış Gerçeklik Etkileşimleri, Göz-El Koordinasyonu, Ekran teknolojileri, Görev talimatları, Dokunsal ArayüzlerMaster Thesis Sanal Gerçeklikte İnce Motor Kontrolünün Geliştirilmesi: El Görünürlüğünün ve Bilekte Giyilen Dokunsal Geri Bildirimin Etkisi(2024) Hatıra, Amal; Stroppa, Mine SaracBu tez, el görünürlüğünü değiştirme ve bilekte takılan dokunsal geri bildirim uygulayarak sanal gerçeklik ortamlarında ince motor kontrolünü geliştirmeyi araştırmaktadır. Çalışma, hassas manipülasyon ve ince kontrol gerektiren VR uygulamalarındaki zorlukları ele almayı amaçlamaktadır, genellikle dokunsal geri bildirimin eksikliği ve mevcut etkileşim yöntemlerinin sınırlamaları tarafından engellenmektedir. Kullanıcı performansını değerlendirmek amacıyla, el görselleştirme tekniklerinin ve bilekte takılan cihazlardan gelen titreşimli geri bildirimin etkisini incelemek için bir dizi deney gerçekleştirilmiştir. Sonuçlar, ince motor görevler sırasında el görünürlüğünün çarpışma sayısını önemli ölçüde etkilediğini, şeffaf ellerin opak olanlardan daha iyi performans sağladığını göstermiştir. Ayrıca, dokunsal geri bildirimin entegrasyonu, kullanıcı güvenini artırmış ve çarpışma oranlarını azaltmıştır, ancak ek duyusal işlem gerektirdiğinden görev tamamlama süresini uzatmıştır. Bulgular, el görünürlüğünü optimize etmenin ve etkili dokunsal geri bildirimi dahil etmenin, VR'de ince motor kontrolünü önemli ölçüde geliştirebileceğini ve genel kullanıcı deneyimini iyileştirebileceğini önermektedir.Conference Object Citation Count: 1Perception of Mechanical Properties Via Wrist Haptics: Effects of Feedback Congruence(IEEE, 2022) Sarac, Mine; Di Luca, Massimiliano; Okamura, Allison M.Despite non-co-location, haptic stimulation at the wrist can potentially provide feedback regarding interactions at the fingertips without encumbering the user's hand. Here we investigate how two types of skin deformation at the wrist (normal and shear) relate to the perception of the mechanical properties of virtual objects. We hypothesized that a congruent mapping (i.e. when the most relevant interaction forces during a virtual interaction spatially match the haptic feedback at the wrist) would result in better perception than other mappings.We performed an experiment where haptic devices at the wrist rendered either normal or shear feedback during manipulation of virtual objects with varying stiffness, mass, or friction properties. Perception of mechanical properties was more accurate with congruent skin stimulation than noncongruent. In addition, discrimination performance and subjective reports were positively influenced by congruence. This study demonstrates that users can perceive mechanical properties via haptic feedback provided at the wrist with a consistent mapping between haptic feedback and interaction forces at the fingertips, regardless of congruence.
