Abstract
Skin stretch, when mapped to joint position, provides haptic feedback using a mechanism similar to our sense of proprioception . Rocker-type skin stretch devices typically actuate in the lateral direction of the arm, though during limb movement stretch about joint angles is in the longitudinal direction. In this paper, human perceptual performance in a target-hitting task is compared for two orientations of the Rice Haptic Rocker. The longitudinal direction is expected to be more intuitive due to the biological similarities, creating a more effective form of haptic feedback. The rockers are placed on the upper arm, and convey the position of a cursor among five vertically aligned targets. The longitudinal orientation results in smaller errors compared to the lateral case. Additionally, the outer targets were reached with less error than the inner targets for the longitudinal rocker. This result suggests longitudinal stretch is more easily discerned than laterally oriented stretch.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Akhtar, A., Nguyen, M., Wan, L., Boyce, B., Slade, P., Bretl, T.: Passive Mechanical Skin Stretch for Multiple Degree-of-Freedom Proprioception in a Hand Prosthesis. In: Auvray, M., Duriez, C. (eds.) EUROHAPTICS 2014. LNCS, vol. 8619, pp. 120–128. Springer, Heidelberg (2014). https://doi.org/10.1007/978-3-662-44196-1_16
Antfolk, C., Björkman, A., Frank, S.O., Sebelius, F., Lundborg, G., Rosen, B.: Sensory feedback from a prosthetic hand based on air-mediated pressure from the hand to the forearm skin. J. Rehabil. Med. 44(8), 702–707 (2012)
Antfolk, C., D’Alonzo, M., Controzzi, M., Lundborg, G., Rosén, B., Sebelius, F., Cipriani, C.: Artificial redirection of sensation from prosthetic fingers to the phantom hand map on transradial amputees: vibrotactile versus mechanotactile sensory feedback. IEEE Trans. Neural Syst. Rehabil. Eng. 21(1), 112–120 (2013)
Battaglia, E., Clark, J.P., Bianchi, M., Catalano, M.G., Bicchi, A., O’Malley, M.K.: The rice haptic rocker: skin stretch haptic feedback with the pisa/iit softhand. In: Proceedings of the IEEE World Haptics Conference (2017)
Blank, A., Brookshier, C.A., O’Malley, M.: Skin stretch feedback of gripper aperture for prosthetic hands in a grasp and lift task (work in progress). In: Proceedings of the IEEE World Haptics Conference (2015)
Casini, S., Morvidoni, M., Bianchi, M., Catalano, M., Grioli, G., Bicchi, A.: Design and realization of the cuff-clenching upper-limb force feedback wearable device for distributed mechano-tactile stimulation of normal and tangential skin forces. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. pp. 1186–1193. IEEE (2015)
Caswell, N.A., Yardley, R.T., Montandon, M.N., Provancher, W.R.: Design of a forearm-mounted directional skin stretch device. In: Proceedings of the IEEE Haptics Symposium. pp. 365–370 (2012)
Chinello, F., Pacchierotti, C., Tsagarakis, N.G., Prattichizzo, D.: Design of a wearable skin stretch cutaneous device for the upper limb. In: Proceedings of the IEEE Haptics Symposium. pp. 14–20 (2016)
Cipriani, C.: DAlonzo, M., Carrozza, M.C.: A miniature vibrotactile sensory substitution device for multifingered hand prosthetics. IEEE Trans. Biomed. Eng. 59(2), 400–408 (2012)
Clark, J.P., Kim, S.Y., O’Malley, M.K.: The rice haptic rocker: Altering the perception of skin stretch through mapping and geometric design. In: the Proceedings of IEEE Eurohaptics Conference (2018)
Collins, D.F., Refshauge, K.M., Todd, G., Gandevia, S.C.: Cutaneous receptors contribute to kinesthesia at the index finger, elbow, and knee. J. Neurophysiol. 94(3), 1699–1706 (2005)
Edin, B.B., Johansson, N.: Skin strain patterns provide kinaesthetic information to the human central nervous system. The Journal of physiology 487(1), 243–251 (1995)
Gleeson, B.T., Horschel, S.K., Provancher, W.R.: Communication of direction through lateral skin stretch at the fingertip. In: World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. pp. 172–177 (2009)
Guinan, A.L., Hornbaker, N.C., Montandon, M.N., Doxon, A.J., Provancher, W.R.: Back-to-back skin stretch feedback for communicating five degree-of-freedom direction cues. In: Proceedings of the IEEE World Haptics Conference. pp. 13–18 (2013)
Kim, K., Colgate, J.E., Santos-Munné, J.J., Makhlin, A., Peshkin, M.A.: On the design of miniature haptic devices for upper extremity prosthetics. IEEE/ASME Trans. Mechatron. 15(1), 27–39 (2010)
Kuniyasu, Y., Sato, M., Fukushima, S., Kajimoto, H.: Transmission of forearm motion by tangential deformation of the skin. In: Proceedings of the 3rd Augmented Human International Conference. pp. 16:1–16:4. ACM (2012)
Meek, S.G., Jacobsen, S.C., Goulding, P.P.: Extended physiologic taction: design and evaluation of a proportional force feedback system. Journal of Rehabilitation Research & Development 26(3), 53–62 (1989)
Minamizawa, K., Fukamachi, S., Kajimoto, H., Kawakami, N., Tachi, S.: Gravity grabber: Wearable haptic display to present virtual mass sensation. In: ACM SIGGRAPH Emerging Technologies. ACM (2007)
Okamura, A.: Methods for haptic feedback in teleoperated robotassisted surgery. Industrial Robot: the international journal of robotics research and application 31(6), 499–508 (2004)
Schorr, S.B., Quek, Z.F., Romano, R.Y., Nisky, I., Provancher, W.R., Okamura, A.M.: Sensory substitution via cutaneous skin stretch feedback. In: 2013 IEEE International Conference on Robotics and Automation. pp. 2341–2346 (2013)
Stanley, A.A., Kuchenbecker, K.J.: Evaluation of tactile feedback methods for wrist rotation guidance. IEEE Trans. Haptics 5(3), 240–251 (2012)
Sylvester, N.D., Provancher, W.R.: Effects of longitudinal skin stretch on the perception of friction. In: Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC’07). pp. 373–378 (2007)
Wheeler, J., Bark, K., Savall, J., Cutkosky, M.: Investigation of rotational skin stretch for proprioceptive feedback with application to myoelectric systems. IEEE Trans. Neural Syst. Rehabil. Eng. 18(1), 58–66 (2010)
Yem, V., Otsuki, M., Kuzuoka, H.: Development of wearable outer-covering haptic display using ball effector for hand motion guidance. In: Kajimoto, H., Ando, H., Kyung, K.U. (eds.) Haptic Interaction: Perception, Devices and Applications, pp. 85–89. Springer Japan (2015)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Clark, J.P., Kim, S.Y., O’Malley, M.K. (2018). The Rice Haptic Rocker: Comparing Longitudinal and Lateral Upper-Limb Skin Stretch Perception. In: Prattichizzo, D., Shinoda, H., Tan, H., Ruffaldi, E., Frisoli, A. (eds) Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science(), vol 10894. Springer, Cham. https://doi.org/10.1007/978-3-319-93399-3_12
Download citation
DOI: https://doi.org/10.1007/978-3-319-93399-3_12
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-93398-6
Online ISBN: 978-3-319-93399-3
eBook Packages: Computer ScienceComputer Science (R0)