The Effect of Kinesthetic and Artificial Tactile Noise and Variability on Stiffness Perception

Kossowsky, Hanna; Farajian, Mor; Nisky, Ilana

doi:10.1109/toh.2022.3158386

Cited by 9 publications

(5 citation statements)

References 65 publications

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“…Therefore, it is difficult to conclude whether it is a matter of small effect sizes (albeit our sample size was of a reasonable size) or that the grip force baseline of the negative stretch did not change with repeated interaction. These results are not consistent with previous studies [10], [24], [48], which showed a decrease in the grip force baseline with repeated interactions with an elastic object. These studies attributed this finding to an increase in the certainty regarding the forces, which resulted in a reduction in the safety margin.…”

Section: Discussioncontrasting

confidence: 99%

“…It was previously suggested that this variability could stem from differences between participants' skin properties [46], [47] or the way that participants held the device [28]. Interestingly, all prior studies (including our own) [27]- [29], [48] interpreted this variability as different levels of sensitivity to stretch, and assumed that some participants are capable of completely ignoring this stimuli. However, this study, which had a larger sample size and stimulation in different directions, allowed us to propose our model and offer an additional explanation for the variability.…”

Section: Discussionmentioning

confidence: 82%

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Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control

Farajian

Leib

Kossowsky

et al. 2023

Preprint

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When interacting with an object, we use kinesthetic and tactile information to create our perception of the object's properties and to prevent its slippage using grip force control. We previously showed that applying artificial skin-stretch together with, and in the same direction as, kinesthetic force increases the perceived stiffness. Here, we investigated the effect of the direction of the artificial stretch on stiffness perception and grip force control. We presented participants with kinesthetic force together with negative or positive artificial stretch, in the opposite or the same direction of the natural stretch due to the kinesthetic force, respectively. Our results showed that artificial skin-stretch in both directions augmented the perceived stiffness; however, the augmentation caused by the negative stretch was consistently lower than that caused by the positive stretch. Additionally, we proposed a computational model that predicts the perceptual effects based on the preferred directions of the stimulated mechanoreceptors. When examining the grip force, we found that participants applied higher grip forces during the interactions with positive skin-stretch in comparison to the negative skin-stretch, which is consistent with the perceptual results. These results may be useful in tactile technologies for wearable haptic devices, teleoperation, and robot-assisted surgery.

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Section: Discussioncontrasting

confidence: 99%

Section: Discussionmentioning

confidence: 82%

Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control

Farajian

Leib

Kossowsky

et al. 2023

Preprint

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“…F. Quek et al 2013;C. Avraham et al 2020;Farajian et al 2021;Kossowsky et al 2022). This variability might stem from the amount of skin stretch being dependent on various properties of the skin, which is known to change dramatically with age and environmental conditions (Yang et al 2018;Langton et al 2017;Deflorio et al 2022).…”

Section: Discussionmentioning

confidence: 99%

Artificial Tactile Stimulation Provides Haptic Cuing in Force Field Adaptation

Avraham

Nisky

2023

Preprint

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When interacting with objects with unfamiliar dynamics, the sensorimotor system uses haptic information to develop internal representations of the new dynamics. These representations are subsequently used to manipulate the objects by applying predictive forces that comply with the mechanical properties of the objects. In a recent study (Farajian et al. 2020), we showed that when participants evaluated the stiffness of elastic objects, adding artificial tactile stimulation created an illusion of higher stiffness, increasing the grip force control used to interact with the object. Here, we took a step further in understanding how kinesthetic and tactile information is integrated into the control of objects. Specifically, we examined how added skin stretch influenced the learning of novel forces. We found that the extent of force compensation that the participants exhibited depended on the direction of the artificial skin stretch applied simultaneously with the force; learning was enhanced when the skin was stretched in the opposite direction to the external force and diminished when the skin was stretched in the same direction. Strikingly, when the skin stretch stimulation was delivered during probe trials in which the force perturbation was absent, the behavior pattern was flipped, with an increase in force compensation for the same-direction skin stretch stimulation and vice versa. Modeling suggests that these results reflect a unique effect of tactile stimulation during the learning of novel forces; rather than becoming integrated with the dynamic information, it is used by the sensorimotor system as a guidance cue, possibly through explicit mechanisms, providing information on the way to compensate for the forces and optimize movements. We believe that these findings propose a novel instructive role of tactile stimulation during interaction with a dynamic object. This provides a significant potential to leverage these effects in the development of devices aiming to assist and guide users in many human-in-the-loop applications, such as rehabilitation and surgical robotics.

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“…Fan Liqiang et al [29] presented a multimodal haptic fusion method of cable-drive and ultrasonic haptics that can generate multimodal haptic stimuli. Hanna Kossowsky et al [30] designed haptic feedback consisting of force feedback and artificial skin stretching for robot-assisted minimally invasive surgery (RAMIS). In order to achieve accurate haptic control for robotic surgical tasks, Zhu Xinhe et al [31][32][33] established a force control method based on the Hunt-Crossley model, proposed a nonlinear method for on-line soft tissue characterization, and, based on this, investigated a combination of the Hunt-Crossley contact model with an iterative Kalman filter for a dynamic soft tissue identification method to improve the accuracy of haptic feedback.…”

Section: Introductionmentioning

confidence: 99%

Design and Research of Multimodal Fusion Feedback Device Based on Virtual Interactive System

Zhang

Shi

et al. 2023

Actuators

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This paper proposes a kinesthetic–tactile fusion feedback system based on virtual interaction. Combining the results of human fingertip deformation characteristics analysis and an upper limb motion mechanism, a fingertip tactile feedback device and an arm kinesthetic feedback device are designed and analyzed for blind instructors. In order to verify the effectiveness of the method, virtual touch experiments are established through the mapping relationship between the master–slave and virtual end. The results showed that the average recognition rate of virtual objects is 79.58%, and the recognition speed is improved by 41.9% compared with the one without force feedback, indicating that the kinesthetic–tactile feedback device can provide more haptic perception information in virtual feedback and improve the recognition rate of haptic perception.

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The Effect of Kinesthetic and Artificial Tactile Noise and Variability on Stiffness Perception

Cited by 9 publications

References 65 publications

Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control

Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control

Artificial Tactile Stimulation Provides Haptic Cuing in Force Field Adaptation

Design and Research of Multimodal Fusion Feedback Device Based on Virtual Interactive System

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