WAVES: A Wearable Asymmetric Vibration Excitation System for Presenting Three-Dimensional Translation and Rotation Cues

WAVES, a Wearable Asymmetric Vibration Excitation System, is a novel wearable haptic device for presenting three dimensions of translation and rotation guidance cues. In contrast to traditional vibration feedback, which usually requires that users learn to interpret a binary cue, asymmetric vibrations have been shown to induce a pulling sensation in a desired direction. When attached to the fingers, a single voicecoil actuator presents a translation guidance cue and a pair of voicecoil actuators presents a rotation guidance cue. The directionality of mechanoreceptors in the skin led to our choice of the location and orientation of the actuators in order to elicit very strong sensations in certain directions. For example, users distinguished a "left" cue versus a "right" cue 94.5% of the time. When presented with one of six possible direction cues, users on average correctly identified the direction of translation cues 86.1% of the time and rotation cues 69.0% of the time.

[1]  R. Johansson,et al.  Encoding of Direction of Fingertip Forces by Human Tactile Afferents , 2001, The Journal of Neuroscience.

[2]  Bodo Urban,et al.  Exploring vibrotactile feedback on the body and foot for the purpose of pedestrian navigation , 2015, iWOAR.

[3]  Thomas Hulin,et al.  Evaluation of a vibrotactile feedback device for spatial guidance , 2011, 2011 IEEE World Haptics Conference.

[4]  Roberta L. Klatzky,et al.  Good vibrations: Asymmetric vibrations for directional haptic cues , 2009, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[5]  William R. Provancher,et al.  Perception of Direction for Applied Tangential Skin Displacement: Effects of Speed, Displacement, and Repetition , 2010, IEEE Transactions on Haptics.

[6]  Tomohiro Amemiya,et al.  Phantom-DRAWN: direction guidance using rapid and asymmetric acceleration weighted by nonlinearity of perception , 2005, ICAT '05.

[7]  Parisa Eslambolchilar,et al.  "I did it my way": moving away from the tyranny of turn-by-turn pedestrian navigation , 2010, Mobile HCI.

[8]  R. Johansson,et al.  Tactile sensibility in the human hand: relative and absolute densities of four types of mechanoreceptive units in glabrous skin. , 1979, The Journal of physiology.

[9]  B. von Haller Gilmer,et al.  The Measurement of the Sensitivity of the Skin to Mechanical Vibration , 1935 .

[10]  S. Bolanowski,et al.  Hairy skin: psychophysical channels and their physiological substrates. , 1994, Somatosensory & motor research.

[11]  Kenneth O. Johnson,et al.  The roles and functions of cutaneous mechanoreceptors , 2001, Current Opinion in Neurobiology.

[12]  William R. Provancher,et al.  Back-to-back skin stretch feedback for communicating five degree-of-freedom direction cues , 2013, 2013 World Haptics Conference (WHC).

[13]  Hiroo Iwata,et al.  Properties of proprioceptive sensation with a vibration speaker-type non-grounded haptic interface , 2016, 2016 IEEE Haptics Symposium (HAPTICS).

[14]  Katherine J. Kuchenbecker,et al.  Effects of Vibrotactile Feedback on Human Learning of Arm Motions , 2015, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[15]  Kenjiro Takemura,et al.  An Ungrounded Pulling Force Feedback Device Using Periodical Vibration-Impact , 2012, EuroHaptics.

[16]  Aaron M. Dollar,et al.  Outdoor pedestrian navigation assistance with a shape-changing haptic interface and comparison with a vibrotactile device , 2016, 2016 IEEE Haptics Symposium (HAPTICS).

[17]  Hiroyuki Kajimoto,et al.  Application of Hanger Reflex to wrist and waist , 2014, 2014 IEEE Virtual Reality (VR).

[18]  Tomohiro Amemiya,et al.  Active Manual Movement Improves Directional Perception of Illusory Force , 2016, IEEE Transactions on Haptics.

[19]  R. Riener,et al.  Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review , 2012, Psychonomic Bulletin & Review.

[20]  Ding Xu,et al.  PneuHaptic: delivering haptic cues with a pneumatic armband , 2015, SEMWEB.

[21]  A. A. Collins,et al.  Spatial Factors in Vibrotactile Pattern Perception , 2003 .

[22]  Carlos Rossa,et al.  Multiactuator Haptic Feedback on the Wrist for Needle Steering Guidance in Brachytherapy , 2016, IEEE Robotics and Automation Letters.

[23]  Robert Hardy,et al.  NaviRadar: a novel tactile information display for pedestrian navigation , 2011, UIST.

[24]  J. Hahn.  Vibrotactile adaptation and recovery measured by two methods. , 1966, Journal of experimental psychology.

[25]  J. Bell,et al.  The structure and function of pacinian corpuscles: A review , 1994, Progress in Neurobiology.

[26]  Carter C. Collins,et al.  Tactile Television - Mechanical and Electrical Image Projection , 1970 .

[27]  Allison M. Okamura,et al.  Environment Perception in the Presence of Kinesthetic or Tactile Guidance Virtual Fixtures , 2015, 2015 10th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[28]  Mandayam A. Srinivasan,et al.  Tangential versus normal displacements of skin: relative effectiveness for producing tactile sensations , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[29]  Yoji Yamada,et al.  Haptics: Neuroscience, Devices, Modeling, and Applications , 2014, Lecture Notes in Computer Science.

[30]  Tomohiro Amemiya,et al.  Distinct Pseudo-Attraction Force Sensation by a Thumb-Sized Vibrator that Oscillates Asymmetrically , 2014, EuroHaptics.

[31]  Alex Pentland,et al.  A wearable haptic navigation guidance system , 1998, Digest of Papers. Second International Symposium on Wearable Computers (Cat. No.98EX215).

[32]  Allison M. Okamura,et al.  Modeling and design of asymmetric vibrations to induce ungrounded pulling sensation through asymmetric skin displacement , 2016, 2016 IEEE Haptics Symposium (HAPTICS).

[33]  Ali Israr,et al.  Detection Threshold and Mechanical Impedance of the Hand in a Pen-Hold Posture , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[34]  Tomohiro Amemiya,et al.  Virtual force display: direction guidance using asymmetric acceleration via periodic translational motion , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.