Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444641
P. Malysz, S. Sirouspour
The performance objectives of multiple-master/single-slave cooperative teleoperation systems typically involve shared control where each master device controls the same degrees of freedom of the slave manipulator. In this paper, the transparency objectives for multi-master/single-slave teleoperation systems are generalized to include projected force mappings. These mappings can divide the control of the slave robot in arbitrarily defined task subspaces among the master devices. Constraint type forces are reflected to the operator(s) consistent with such task division. A provably stable adaptive controller is presented to facilitate the new projected force mappings. Experiments with a planar 3DOF dual-master/singleslave teleoperation system are provided to demonstrate the operation of the proposed cooperation teleoperation control strategy.
{"title":"Cooperative teleoperation control with projective force mappings","authors":"P. Malysz, S. Sirouspour","doi":"10.1109/HAPTIC.2010.5444641","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444641","url":null,"abstract":"The performance objectives of multiple-master/single-slave cooperative teleoperation systems typically involve shared control where each master device controls the same degrees of freedom of the slave manipulator. In this paper, the transparency objectives for multi-master/single-slave teleoperation systems are generalized to include projected force mappings. These mappings can divide the control of the slave robot in arbitrarily defined task subspaces among the master devices. Constraint type forces are reflected to the operator(s) consistent with such task division. A provably stable adaptive controller is presented to facilitate the new projected force mappings. Experiments with a planar 3DOF dual-master/singleslave teleoperation system are provided to demonstrate the operation of the proposed cooperation teleoperation control strategy.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123424285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444665
William McMahan, Joseph M. Romano, Amal Rahuman, K. J. Kuchenbecker
Almost every physical interaction generates high frequency vibrations, especially if one of the objects is a rigid tool. Previous haptics research has hinted that the inclusion or exclusion of these signals plays a key role in the realism of haptically rendered surface textures, but this connection has not been formally investigated until now. This paper presents a human subject study that compares the performance of a variety of surface rendering algorithms for a master-slave teleoperation system; each controller provides the user with a different combination of position and acceleration feedback, and subjects compared the renderings with direct tool-mediated exploration of the real surface. We use analysis of variance to examine quantitative performance metrics and qualitative realism ratings across subjects. The results of this study show that algorithms that include high-frequency acceleration feedback in combination with position feedback achieve significantly higher realism ratings than traditional position feedback alone. Furthermore, we present a frequency-domain metric for quantifying a controller's acceleration feedback performance; given a constant surface stiffness, the median of this metric across subjects was found to have a significant positive correlation with median realism rating.
{"title":"High frequency acceleration feedback significantly increases the realism of haptically rendered textured surfaces","authors":"William McMahan, Joseph M. Romano, Amal Rahuman, K. J. Kuchenbecker","doi":"10.1109/HAPTIC.2010.5444665","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444665","url":null,"abstract":"Almost every physical interaction generates high frequency vibrations, especially if one of the objects is a rigid tool. Previous haptics research has hinted that the inclusion or exclusion of these signals plays a key role in the realism of haptically rendered surface textures, but this connection has not been formally investigated until now. This paper presents a human subject study that compares the performance of a variety of surface rendering algorithms for a master-slave teleoperation system; each controller provides the user with a different combination of position and acceleration feedback, and subjects compared the renderings with direct tool-mediated exploration of the real surface. We use analysis of variance to examine quantitative performance metrics and qualitative realism ratings across subjects. The results of this study show that algorithms that include high-frequency acceleration feedback in combination with position feedback achieve significantly higher realism ratings than traditional position feedback alone. Furthermore, we present a frequency-domain metric for quantifying a controller's acceleration feedback performance; given a constant surface stiffness, the median of this metric across subjects was found to have a significant positive correlation with median realism rating.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125957061","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444623
Jaeyoung Park, Kwangtaek Kim, H. Tan, R. Reifenberger, G. Bertoline, Tallulah Hoberman, D. Bennett
We report an initial study on the use of visuohaptic simulation in teaching STEM (Science, Technology, Engineering and Mathematics) topics, with particular emphasis on physics concepts related to the learning of nanotechnology at the undergraduate level. Visuohaptic simulations of point charges and their interactions were developed. Thirty-eight undergraduate students from a physics lab course were recruited to participate in an educational study. Half of the students were assigned to a visuohaptic (VH) group where they could see as well as feel interaction forces rendered with a Falcon force-feedback device. The other half of the students were assigned to a visual (V) group where they could interact with the same simulation via a computer mouse but did not feel any forces. Results from a 10-question content test showed that both groups benefited from the computer simulation. There were no statistical differences between the VH and V groups, presumably due to the relatively small number of participants who completed quantitative assessments. However, qualitative results from observations and interviews indicated that students in the VH groups were more motivated and engaged in the lab activities, reported more positive attitude towards learning, and felt more confident about their understanding and retention of knowledge. Our findings have been used to design a larger-scale study that will further investigate the use of visuohaptic technology in nanotechnology education.
{"title":"An initial study of visuohaptic simulation of point-charge interactions","authors":"Jaeyoung Park, Kwangtaek Kim, H. Tan, R. Reifenberger, G. Bertoline, Tallulah Hoberman, D. Bennett","doi":"10.1109/HAPTIC.2010.5444623","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444623","url":null,"abstract":"We report an initial study on the use of visuohaptic simulation in teaching STEM (Science, Technology, Engineering and Mathematics) topics, with particular emphasis on physics concepts related to the learning of nanotechnology at the undergraduate level. Visuohaptic simulations of point charges and their interactions were developed. Thirty-eight undergraduate students from a physics lab course were recruited to participate in an educational study. Half of the students were assigned to a visuohaptic (VH) group where they could see as well as feel interaction forces rendered with a Falcon force-feedback device. The other half of the students were assigned to a visual (V) group where they could interact with the same simulation via a computer mouse but did not feel any forces. Results from a 10-question content test showed that both groups benefited from the computer simulation. There were no statistical differences between the VH and V groups, presumably due to the relatively small number of participants who completed quantitative assessments. However, qualitative results from observations and interviews indicated that students in the VH groups were more motivated and engaged in the lab activities, reported more positive attitude towards learning, and felt more confident about their understanding and retention of knowledge. Our findings have been used to design a larger-scale study that will further investigate the use of visuohaptic technology in nanotechnology education.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126230085","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444663
Jaeha Kim, Changhoon Seo, J. Ryu, Jong-Phil Kim
In haptics, both transparency and stability are major requirements for providing realistic feeling of virtual objects. The crisp contact feeling at the instant of touch with high impedance walls is necessary especially for proper identification and manipulation of virtual objects. This paper presents a new passivity condition that explicitly includes Coulomb friction effects. Moreover, the energy bounding algorithm incorporating Coulomb friction effects shows that the viscous damping of the haptic device affects the maximum displayable stiffness in steady-state and that the Coulomb friction of the device contributes to temporarily enhance rate-hardness in initial transient responses. Experimental results are presented for showing effectiveness of the proposed derivation and control law.
{"title":"Enhancing rate-hardness of energy-bounding algorithm by considering Coulomb friction of haptic interface","authors":"Jaeha Kim, Changhoon Seo, J. Ryu, Jong-Phil Kim","doi":"10.1109/HAPTIC.2010.5444663","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444663","url":null,"abstract":"In haptics, both transparency and stability are major requirements for providing realistic feeling of virtual objects. The crisp contact feeling at the instant of touch with high impedance walls is necessary especially for proper identification and manipulation of virtual objects. This paper presents a new passivity condition that explicitly includes Coulomb friction effects. Moreover, the energy bounding algorithm incorporating Coulomb friction effects shows that the viscous damping of the haptic device affects the maximum displayable stiffness in steady-state and that the Coulomb friction of the device contributes to temporarily enhance rate-hardness in initial transient responses. Experimental results are presented for showing effectiveness of the proposed derivation and control law.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123504290","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444621
B. Ahn, Jung Kim
Accurate models of biological soft tissues are important to calculate the interaction forces for haptic feedback as well as simulation of deformation. However, tissue characterization that takes into account comprehensive boundary conditions of tissue experiments remains a challenge due to difficulties of testing and a lack of experimental data. In this paper, we present a novel experimental method that capturing trajectories of points on the tissue surface and interaction forces at the indenter concurrently. Experiments were carried out with a three-dimensional (3D) optical system and a force transducer. The tissue model was characterized with the inverse optimization algorithm and the force response results. From the results in our study, a model with estimated parameters from the force response might not fully regenerate the deformation; this could be an interesting extension of our work. Moreover, with this technique, we check two commonly made assumptions for soft tissue modeling; incompressibility and axisymmetry conditions.
{"title":"New experimental method based biological soft tissue modeling","authors":"B. Ahn, Jung Kim","doi":"10.1109/HAPTIC.2010.5444621","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444621","url":null,"abstract":"Accurate models of biological soft tissues are important to calculate the interaction forces for haptic feedback as well as simulation of deformation. However, tissue characterization that takes into account comprehensive boundary conditions of tissue experiments remains a challenge due to difficulties of testing and a lack of experimental data. In this paper, we present a novel experimental method that capturing trajectories of points on the tissue surface and interaction forces at the indenter concurrently. Experiments were carried out with a three-dimensional (3D) optical system and a force transducer. The tissue model was characterized with the inverse optimization algorithm and the force response results. From the results in our study, a model with estimated parameters from the force response might not fully regenerate the deformation; this could be an interesting extension of our work. Moreover, with this technique, we check two commonly made assumptions for soft tissue modeling; incompressibility and axisymmetry conditions.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130808217","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444647
Sabrina A. Panëels, Jonathan C. Roberts, P. Rodgers
The use of haptic devices is becoming widespread, particularly with their growth in the home-games market and on mobile phones. Likewise, the number of haptic devices and APIs is increasing. However, it is still difficult to program and develop haptic applications. Consequently, there is a need to hide the complexity of programming a haptic application or interactions by providing prototyping tools or frameworks. In particular, one growing application area is haptic data visualization (also called haptification): the use of haptic devices to represent and realize information and data. This paper presents a visual prototyping tool for haptic interactions for data visualization. Users can easily and quickly create haptic interactions through a visual programming interface with tunable parameters. This paper also presents a user evaluation aimed at demonstrating that non-programmers can create simple haptic interactions and which also indicates potential improvements to the tool.
{"title":"HITPROTO: a tool for the rapid prototyping of haptic interactions for haptic data visualization","authors":"Sabrina A. Panëels, Jonathan C. Roberts, P. Rodgers","doi":"10.1109/HAPTIC.2010.5444647","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444647","url":null,"abstract":"The use of haptic devices is becoming widespread, particularly with their growth in the home-games market and on mobile phones. Likewise, the number of haptic devices and APIs is increasing. However, it is still difficult to program and develop haptic applications. Consequently, there is a need to hide the complexity of programming a haptic application or interactions by providing prototyping tools or frameworks. In particular, one growing application area is haptic data visualization (also called haptification): the use of haptic devices to represent and realize information and data. This paper presents a visual prototyping tool for haptic interactions for data visualization. Users can easily and quickly create haptic interactions through a visual programming interface with tunable parameters. This paper also presents a user evaluation aimed at demonstrating that non-programmers can create simple haptic interactions and which also indicates potential improvements to the tool.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131013932","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444648
Silvio H. R. Rizzi, C. Luciano, P. Banerjee
An algorithm to provide haptic feedback directly from volumetric datasets is introduced in this paper. The algorithm is able to reproduce and extend the functionality of surface-based haptics rendering methods. It can be easily implemented on top of existing haptic libraries, such as Sensable's OpenHaptics. In addition, our approach overcomes poor performance in OpenHaptics for models consisting of a large number of polygons (1Million+). The algorithm allows detecting collisions with multiple 3-dimensional shapes. After comparing alternative approaches, such as Depth Buffer and Feedback Buffer, as well as SenseGraphics' Volume Haptics ToolKit (ScalarSurfaceFriction mode), our algorithm delivers the highest performance in terms of rendering time.
{"title":"Haptic interaction with volumetric datasets using surface-based haptic libraries","authors":"Silvio H. R. Rizzi, C. Luciano, P. Banerjee","doi":"10.1109/HAPTIC.2010.5444648","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444648","url":null,"abstract":"An algorithm to provide haptic feedback directly from volumetric datasets is introduced in this paper. The algorithm is able to reproduce and extend the functionality of surface-based haptics rendering methods. It can be easily implemented on top of existing haptic libraries, such as Sensable's OpenHaptics. In addition, our approach overcomes poor performance in OpenHaptics for models consisting of a large number of polygons (1Million+). The algorithm allows detecting collisions with multiple 3-dimensional shapes. After comparing alternative approaches, such as Depth Buffer and Feedback Buffer, as well as SenseGraphics' Volume Haptics ToolKit (ScalarSurfaceFriction mode), our algorithm delivers the highest performance in terms of rendering time.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"143 36","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132845408","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444640
A. Haddadi, K. Hashtrudi-Zaad
Robust stability of haptic simulation systems against any passive operator dynamics not only depends on the dynamic parameters of the haptic device, haptic controller and virtual environment but also on the type of signals sampled and the digital implementation of the virtual environment. In this paper, we analytically investigate the robust stability of the systems in which the device position or velocity is sampled, backward difference or Tustin differentiation method is employed for the implementation of damper-spring virtual environments, and accurate or approximate model is used to represent the sampling process. The analytical study reveals potential issues in the use of sampling approximation and more importantly introduces less conservative stability conditions on system dynamic parameters when velocity is sampled.
{"title":"Stability analysis of haptic interfaces for different types of sampled signals and virtual environment implementations","authors":"A. Haddadi, K. Hashtrudi-Zaad","doi":"10.1109/HAPTIC.2010.5444640","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444640","url":null,"abstract":"Robust stability of haptic simulation systems against any passive operator dynamics not only depends on the dynamic parameters of the haptic device, haptic controller and virtual environment but also on the type of signals sampled and the digital implementation of the virtual environment. In this paper, we analytically investigate the robust stability of the systems in which the device position or velocity is sampled, backward difference or Tustin differentiation method is employed for the implementation of damper-spring virtual environments, and accurate or approximate model is used to represent the sampling process. The analytical study reveals potential issues in the use of sampling approximation and more importantly introduces less conservative stability conditions on system dynamic parameters when velocity is sampled.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131911122","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444662
Matthew A. Baumann, Karon E Maclean, T. Hazelton, Ashley McKay
Our computers often need to get our attention, but have inadequate means of modulating the intrusiveness with which they do so. Humans commonly use social touch to gain one another's attention. In this paper, we describe an early exploration of how an expressive, wearable or holdable haptic display could emulate human social practices with the goal of evoking comparable responses from users. It spans three iterations of rapid prototyping and user evaluation, beginning with broad-ranging physical brainstorming, before proceeding to higher-fidelity actuated prototypes. User reactions were incorporated along the way, including an assessment of the low-fidelity prototypes' expressiveness. Our observations suggest that, using simple and potentially unintrusive body-situated mechanisms like a bracelet, it is possible to convey a range of socially gradable attention-getting expressions to be useful in real contexts.
{"title":"Emulating human attention-getting practices with wearable haptics","authors":"Matthew A. Baumann, Karon E Maclean, T. Hazelton, Ashley McKay","doi":"10.1109/HAPTIC.2010.5444662","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444662","url":null,"abstract":"Our computers often need to get our attention, but have inadequate means of modulating the intrusiveness with which they do so. Humans commonly use social touch to gain one another's attention. In this paper, we describe an early exploration of how an expressive, wearable or holdable haptic display could emulate human social practices with the goal of evoking comparable responses from users. It spans three iterations of rapid prototyping and user evaluation, beginning with broad-ranging physical brainstorming, before proceeding to higher-fidelity actuated prototypes. User reactions were incorporated along the way, including an assessment of the low-fidelity prototypes' expressiveness. Our observations suggest that, using simple and potentially unintrusive body-situated mechanisms like a bracelet, it is possible to convey a range of socially gradable attention-getting expressions to be useful in real contexts.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131926243","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444632
J. Huegel, M. O'Malley
This paper presents the design and implementation of a novel progressive haptic guidance scheme and a similar visual guidance scheme for acquisition of a dynamic motor skill. The paper compares the schemes' performance to each other and to practice alone without any form of guidance. The target-hitting task is represented in a visual and haptic virtual environment and implemented in a training protocol that lasts eleven sessions over a two-month period. The progressive guidance controller employs as inputs two expertise-based performance measures, trajectory error and input frequency. The analysis of the experimental results demonstrates that while guidance is active, haptic guidance outperforms both visual guidance and practice alone (no guidance) until late in the protocol when all three groups saturate at the same level of performance. The results fail to show significant differences in training outcomes because the performance of all participants saturates toward the end of the protocol. The key implication of the experimental findings is that visual and haptic guidance presented in a progressive manner have no detrimental effects on performance. Our results confirm that haptic guidance, based on skill component measures, is effective early in the training protocol when participants are only beginning to understand the components of the task but should be progressively removed to avoid possible negative dependence on the guidance.
{"title":"Progressive haptic and visual guidance for training in a virtual dynamic task","authors":"J. Huegel, M. O'Malley","doi":"10.1109/HAPTIC.2010.5444632","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444632","url":null,"abstract":"This paper presents the design and implementation of a novel progressive haptic guidance scheme and a similar visual guidance scheme for acquisition of a dynamic motor skill. The paper compares the schemes' performance to each other and to practice alone without any form of guidance. The target-hitting task is represented in a visual and haptic virtual environment and implemented in a training protocol that lasts eleven sessions over a two-month period. The progressive guidance controller employs as inputs two expertise-based performance measures, trajectory error and input frequency. The analysis of the experimental results demonstrates that while guidance is active, haptic guidance outperforms both visual guidance and practice alone (no guidance) until late in the protocol when all three groups saturate at the same level of performance. The results fail to show significant differences in training outcomes because the performance of all participants saturates toward the end of the protocol. The key implication of the experimental findings is that visual and haptic guidance presented in a progressive manner have no detrimental effects on performance. Our results confirm that haptic guidance, based on skill component measures, is effective early in the training protocol when participants are only beginning to understand the components of the task but should be progressively removed to avoid possible negative dependence on the guidance.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125800258","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：