Supernumerary Body Schema Extension to Non-Corporeal Object by Adding Artificial Tactile Feedback using Electrical Stimulation

Manoharan, Stefan; Park, Hangue

doi:10.1109/ner.2019.8717127

Cited by 9 publications

(3 citation statements)

References 13 publications

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“…The location of stimulation, the distal part of the palmar digital nerve, is composed mostly of cutaneous axons and located at the bony area with minimal fats and muscles near to the skin. Therefore, transcutaneous electrical stimulation of the skin over this nerve easily elicits the electrotactile feedback on the fingertip 42,43 . Since each subject has a different perceptual sensitivity to the stimulation frequency, the perceptible range of each subject was tested and used to find the optimal frequency range.…”

Section: Implementation Of the Proximity Sensationmentioning

confidence: 99%

Electrically-Evoked Proximity Sensation Can Enhance Fine Finger Control in Telerobotic Pinch

Zhao

Yeo

Manoharan

et al. 2020

Sci Rep

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for teleoperation tasks requiring high control accuracy, it is essential to provide teleoperators with information on the interaction between the end effector and the remote environment. Real-time imaging devices have been widely adopted, but it delivers limited information, especially when the end effectors approach the target following the line-of-sight. In such situations, teleoperators rely on the perspective at the screen and can apply high force unintentionally at the initial contact. This research proposes to deliver the distance information at teleoperation to the fingertips of teleoperators, i.e., proximity sensation. Transcutaneous electrical stimulation was applied onto the fingertips of teleoperators, with the pulsing frequency inversely proportional to the distance. The efficacy of the proximity sensation was evaluated by the initial contact force during telerobotic pinch in three sensory conditions: vision only, vision + visual assistance (distance on the screen), and vision + proximity sensation. The experiments were repeated at two viewing angles: 30-60° and line-of-sight, for eleven healthy human subjects. For both cases, the initial contact force could be significantly reduced by either visual assistance (20-30%) or the proximity sensation (60-70%), without additional processing time. The proximity sensation is two-to-three times more effective than visual assistance regarding the amount of force reduction. open Scientific RepoRtS | (2020) 10:163 | https://doi.org/10.1038/s41598-019-56985-9www.nature.com/scientificreports www.nature.com/scientificreports/ or more grippers 7,8 to form triangulation. When the vision is blocked or unclear due to anatomical structures, blood, or instruments, which is often the case, the camera cannot capture the approaching motion properly. Further, understanding visual feedback for use in fingertip manipulations needs significant cognitive involvement and processing time to interpret the real-time video, which can be a high burden to the teleoperators who need to handle multiple tasks demanding continuous decision making during the teleoperation. The intrinsic visual-proprioceptive mapping error is another challenge, because even the high-resolution visual feedback may not be effective with the visual-proprioceptive mapping error 9,10 .The lack of reliable sensory feedback during the approach phase can result in higher force than the desired at the moment of contact between the end effector under teleoperation and the target objects, potentially disturbing subsequent manipulations or permanently damaging sensitive objects 11,12 . A high level of concentration is required to address this issue 13,14 , but it is still challenging to accurately estimate the necessary information and to complete the task on a timely basis. As an alternative, visual assistance displaying texts or numbers on the screen and virtual reality have shown their efficacy for fine force control during robotic surgery [15][16][17][18][19] . The efficacy of visual assistance in improving control a...

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Section: Implementation Of the Proximity Sensationmentioning

confidence: 99%

Electrically-Evoked Proximity Sensation Can Enhance Fine Finger Control in Telerobotic Pinch

Zhao

Yeo

Manoharan

et al. 2020

Sci Rep

Self Cite

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“…The sensory modulation approaches also have a lot of potential in their long-term effect, mainly because the primary way in which human beings learn or improve motor performance is through sensory information via the well-distributed peripheral neural network [20]- [22]. Furthermore, the sensory modulation approaches are linked with the body schema (or body ownership), which plays a vital role in intuitive motor control [23].…”

Section: Introductionmentioning

confidence: 99%

Pinching Force Changes by Modulating the Interaction Gain Over the Fingertip

2022

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Motor control between the thumb and index finger is critical for holding and interacting precisely with an object. In case of an improper pinching force, especially when it stems from sensory problems, modulating the interaction gain by changing the contact surface properties is a promising solution because of its simplicity and minimal risk. In this pilot study, three healthy human subjects participated in the pinching experiment with two different surface areas to test the effect of interaction gain on motor control (88 mm 2 and 176 mm 2 as 1× and 2× surface areas). Subjects were asked to match their pinching force to the reference fingertip pressure applied to the other hand. The results demonstrated that subjects applied less force to the thumb when the contact surface area was smaller, perhaps to compensate for the increase in pressure, while the contact surface area did not change the force applied to the index finger. The ratio of the force applied to the 2× surface area to the force applied to the 1× surface area was 1.19±0.02 (Mean±STE) and 1.00±0.02 for the thumb and index finger, respectively. The pinching force was also affected by the tactile memory. When subjects pinched the 2× surface area after pinching the 1× surface area, the pinching force was higher than the one at pinching the 2× surface area from the beginning. These results suggest that environmental intervention is strong enough to bias the motor output of the sensorimotor system.

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“…However, its effectiveness on a wide spectrum of patients is still inconclusive [15]. Embodiment illusion also has a potential to modulate the tactile sensitivity and suppress the tactile hallucinations, by controlling the level of body ownership and updating the body schema regarding the site causing hallucination problem [16][17][18]. In general, there is as of yet no proven effective treatment for uncomfortable tactile hallucinations, even though multiple interventions successfully modulate sensory feedback [19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Forehead Tactile Hallucination Is Augmented by the Perceived Risk and Accompanies Increase of Forehead Tactile Sensitivity

Kim

Knox

Park

2021

Sensors

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Tactile hallucinations frequently occur after mental illnesses and neurodegenerative diseases like Alzheimer’s and Parkinson’s disease. Despite their common occurrence, there are several complicating factors that make it difficult to elucidate the tactile hallucinations. The forehead tactile hallucination, evoked by the physical object approaching to the forehead, can be easily and consistently evoked in healthy-bodied subjects, and therefore it would help with investigating the mechanism of tactile hallucinations. In this pilot study, we investigated the principles of the forehead tactile hallucination with eight healthy subjects. We designed the experimental setup to test the effect of sharpness and speed of objects approaching towards the forehead on the forehead tactile hallucination, in both a physical and virtual experimental setting. The forehead tactile hallucination was successfully evoked by virtual object as well as physical object, approaching the forehead. The forehead tactile hallucination was increased by the increase of sharpness and speed of the approaching object. The forehead tactile hallucination also increased the tactile sensitivity on the forehead. The forehead tactile hallucination can be solely evoked by visual feedback and augmented by the increased perceived risk. The forehead tactile hallucination also increases tactile sensitivity. These experimental results may enhance the understanding of the foundational mechanisms of tactile hallucinations.

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Supernumerary Body Schema Extension to Non-Corporeal Object by Adding Artificial Tactile Feedback using Electrical Stimulation

Cited by 9 publications

References 13 publications

Electrically-Evoked Proximity Sensation Can Enhance Fine Finger Control in Telerobotic Pinch

Electrically-Evoked Proximity Sensation Can Enhance Fine Finger Control in Telerobotic Pinch

Pinching Force Changes by Modulating the Interaction Gain Over the Fingertip

Forehead Tactile Hallucination Is Augmented by the Perceived Risk and Accompanies Increase of Forehead Tactile Sensitivity

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