Development and experimental validation of a minimalistic shape-changing haptic navigation device

Abstract

This paper presents a minimalistic handheld haptic interface designed to provide pedestrian navigation assistance via the intuitive and unobtrusive stimulus of shapechanging. The new device, named the Haptic Taco, explores a novel region of robotic interfaces which we believe to have benefits over other communication methods. In previous work, we demonstrated the use of a 2DOF shape changing interface for navigation without the use of sight. In this paper we seek to explore the potential of minimal 1DOF interfaces, whose simplicity may increase intuitiveness and performance despite conveying less information. The Haptic Taco utilizes the same 'variable volume' concept as a previous device, the Haptic Lotus (2010), but with reduced body compliance and higher force exertion capability. Both devices modulate their perceived volume in relation to proximity to a navigational target (a destination or waypoint). As users walk within an environment, they also attempt to minimize the device volume, finding targets via an embodied 'steepest descent' method. Experimental comparison of the Lotus and Taco in a targetfinding study revealed that the Taco interface increased motion path efficiency by 24% over the Lotus, to 47% average efficiency. This result is highly comparable to the mean motion efficiency of 43.6-48% observed in prior experiments with the 2DOF shape-changing interface, the Animotus. The findings indicate the potential for minimalistic interfaces in this emerging field.

Testing a Shape-Changing Haptic Navigation Device With Vision-Impaired and Sighted Audiences in an Immersive Theater Setting

“…In that work, the 1DOF shape-changing Haptic Lotus device utilized a simple potential-field based 'hotter/colder' proximity based navigation scheme to guide users to regions of looping audio. Rudimentary localization and limited haptic feedback resolution restricted navigational and storytelling capabilities [21], though we later demonstrated that 1DOF feedback could be used effectively for navigation [22]. Flatland implements numerous technical elements to improve performance over The Question, regarding localization resolution, user co-ordination, user-centric audio triggering and haptic feedback.…”

“…From this data, measures of motion efficiency, average velocity, the time that users faced their current target and rates of improvement were all determined. We have used measures of motion efficiency, average walking velocity and time facing the target in past work to compare Animotus performance against other haptic navigation devices [14], [15], [64]. Note that there are no standardized metrics for evaluating navigation ability with tools such as the Animotus.…”

Hand-Held Haptic Navigation Devices for Actual Walking

“…In a subsequent study, Spiers et al [13] introduced the 'Haptic Taco' and compared this device to their earlier developed 'Haptic Lotus'. Both these devices have only 1DOF, namely expansion to indicate proximity.…”

The Aerial Guide Dog: A Low-Cognitive-Load Indoor Electronic Travel Aid for Visually Impaired Individuals

“…Another method includes devices that change shape to provide directional clues [ 38 ]. For example, Spiers et al proposed a cube-like device with a top section that rotates and extends, providing tactile feedback on various finger areas to indicate direction [ 38 , 40 , 41 ].…”