Perceived Intensities of Normal and Shear Skin Stimuli Using a Wearable Haptic Bracelet

dc.authoridDi Luca, Massimiliano/0000-0003-3085-7251
dc.authoridSarac, Mine/0000-0002-2814-7587
dc.authoridOkamura, Allison/0000-0002-6912-1666
dc.authoridHUH, TAE MYUNG/0000-0002-4064-7664
dc.authoridCutkosky, Mark/0000-0003-4730-0900
dc.authorwosidDi Luca, Massimiliano/A-7850-2012
dc.authorwosidOkamura, Allison M/A-3323-2010
dc.contributor.authorSarac, Mine
dc.contributor.authorHuh, Tae Myung
dc.contributor.authorChoi, Hojung
dc.contributor.authorCutkosky, Mark R.
dc.contributor.authorDi Luca, Massimiliano
dc.contributor.authorOkamura, Allison M.
dc.date.accessioned2023-10-19T15:11:55Z
dc.date.available2023-10-19T15:11:55Z
dc.date.issued2022
dc.department-temp[Sarac, Mine; Huh, Tae Myung; Choi, Hojung; Cutkosky, Mark R.; Okamura, Allison M.] Stanford Univ, Stanford, CA 94305 USA; [Sarac, Mine] Kadir Has Univ, Istanbul, Turkey; [Huh, Tae Myung] Univ Calif Berkeley, Berkeley, CA 94720 USA; [Di Luca, Massimiliano] Facebook Real Labs, Redmond, WA USA; [Di Luca, Massimiliano] Univ Birmingham, Birmingham B15 2SQ, W Midlands, Englanden_US
dc.description.abstractOur 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.en_US
dc.description.sponsorshipNational Science Foundation [1830163]; Combat Capabilities Development Command-Soldier Center (CCDCSC) [W81XWH-20-C-0008]; Facebook Reality Labsen_US
dc.description.sponsorshipThiswork was supported in part by National Science Foundation under Grant 1830163, in part by Combat Capabilities Development Command-Soldier Center (CCDCSC) under Grant W81XWH-20-C-0008, and in part by Facebook Reality Labs.en_US
dc.identifier.citation6
dc.identifier.doi10.1109/LRA.2021.3140132en_US
dc.identifier.endpage6106en_US
dc.identifier.issn2377-3766
dc.identifier.issue3en_US
dc.identifier.scopusqualityQ1
dc.identifier.startpage6099en_US
dc.identifier.urihttps://doi.org/10.1109/LRA.2021.3140132
dc.identifier.urihttps://hdl.handle.net/20.500.12469/5275
dc.identifier.volume7en_US
dc.identifier.wosWOS:000785670500003en_US
dc.identifier.wosqualityQ2
dc.khas20231019-WoSen_US
dc.language.isoenen_US
dc.publisherIEEE-Inst Electrical Electronics Engineers Incen_US
dc.relation.ispartofIeee Robotics and Automation Lettersen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectPerceptionEn_Us
dc.subjectDeviceEn_Us
dc.subjectTouchEn_Us
dc.subjectHaptic interfacesen_US
dc.subjectPerception
dc.subjecthuman-robot interactionen_US
dc.subjectDevice
dc.subjectvirtual realityen_US
dc.subjectTouch
dc.subjecthuman computer interactionen_US
dc.titlePerceived Intensities of Normal and Shear Skin Stimuli Using a Wearable Haptic Braceleten_US
dc.typeArticleen_US
dspace.entity.typePublication

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