Mine Saraç Stroppa

Saraç Stroppa, Mine

Name Variants

Saraç Stroppa, Mine
Saraç M.
Sarac Stroppa, Mine
Saraç Stroppa,M.
SARAÇ STROPPA, Mine
Sarac Stroppa,Mine
Mine Saraç Stroppa
MINE SARAÇ STROPPA
Saraç Stroppa, MINE
Sarac Stroppa,M.
S.,Mine
M. Saraç Stroppa
Mine SARAÇ STROPPA
Saraç Stroppa, M.
S., Mine
Mine, Sarac Stroppa
SARAÇ STROPPA, MINE
Sarac, Mine
Stroppa, Mine Saraç
Stroppa, Mine Sarac

Job Title

Dr. Öğr. Üyesi

Email Address

mine.sarac@khas.edu.tr

Main Affiliation

Mechatronics Engineering

Sustainable Development Goals Report Points

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Scholarly Output

20

Articles

3

Citation Count

0

Supervised Theses

2 Scholarly Output Search Results

Now showing 1 - 10 of 20

Citation - WoS: 8
Citation - Scopus: 10
Optimizing Exoskeleton Design with Evolutionary Computation: An Intensive Survey
(Mdpi, 2023) Stroppa, Fabıo; Saraç Stroppa, Mine; Yuksel, Huseyin Taner; Akbas, Baris; Sarac, Mine; Mechatronics Engineering; Computer Engineering
Exoskeleton devices are designed for applications such as rehabilitation, assistance, and haptics. Due to the nature of physical human-machine interaction, designing and operating these devices is quite challenging. Optimization methods lessen the severity of these challenges and help designers develop the device they need. In this paper, we present an extensive and systematic literature search on the optimization methods used for the mechanical design of exoskeletons. We completed the search in the IEEE, ACM, and MDPI databases between 2017 and 2023 using the keywords exoskeleton, design, and optimization. We categorized our findings in terms of which limb (i.e., hand, wrist, arm, or leg) and application (assistive, rehabilitation, or haptic) the exoskeleton was designed for, the optimization metrics (force transmission, workspace, size, and adjustability/calibration), and the optimization method (categorized as evolutionary computation or non-evolutionary computation methods). We discuss our observations with respect to how the optimization methods have been implemented based on our findings. We conclude our paper with suggestions for future research.
Citation - WoS: 7
Citation - Scopus: 7
Measuring the Effect of Stereo Deficiencies on Peripersonal Space Pointing
(IEEE Computer Soc, 2023) Batmaz, Anil Ufuk; Batmaz, Anıl Ufuk; Mughribi, Moaaz Hudhud; Saraç Stroppa, Mine; Sarac, Mine; Machuca, Mayra Barrera; Stuerzlinger, Wolfgang; Mechatronics Engineering
State-of-the-art Virtual Reality (VR) and Augmented Reality (AR) headsets rely on singlefocal stereo displays. For objects away from the focal plane, such displays create a vergence-accommodation conflict (VAC), potentially degrading user interaction performance. In this paper, we study how the VAC affects pointing at targets within arm's reach with virtual hand and raycasting interaction in current stereo display systems. We use a previously proposed experimental methodology that extends the ISO 9241-411:2015 multi-directional selection task to enable fair comparisons between selecting targets in different display conditions. We conducted a user study with eighteen participants and the results indicate that participants were faster and had higher throughput in the constant VAC condition with the virtual hand. We hope that our results enable designers to choose more efficient interaction methods in virtual environments.
Citation - WoS: 2
Citation - Scopus: 4
Perception of Mechanical Properties Via Wrist Haptics: Effects of Feedback Congruence
(IEEE, 2022) Sarac, Mine; Saraç Stroppa, Mine; Di Luca, Massimiliano; Okamura, Allison M.; Mechatronics Engineering
Despite non-co-location, haptic stimulation at the wrist can potentially provide feedback regarding interactions at the fingertips without encumbering the user's hand. Here we investigate how two types of skin deformation at the wrist (normal and shear) relate to the perception of the mechanical properties of virtual objects. We hypothesized that a congruent mapping (i.e. when the most relevant interaction forces during a virtual interaction spatially match the haptic feedback at the wrist) would result in better perception than other mappings.We performed an experiment where haptic devices at the wrist rendered either normal or shear feedback during manipulation of virtual objects with varying stiffness, mass, or friction properties. Perception of mechanical properties was more accurate with congruent skin stimulation than noncongruent. In addition, discrimination performance and subjective reports were positively influenced by congruence. This study demonstrates that users can perceive mechanical properties via haptic feedback provided at the wrist with a consistent mapping between haptic feedback and interaction forces at the fingertips, regardless of congruence.
Citation - WoS: 3
Citation - Scopus: 6
The Impact of Haptic Feedback During Sudden, Rapid Virtual Interactions
(Ieee, 2023) Batmaz, Anıl Ufuk; Saraç Stroppa, Mine; Batmaz, Anil U.; Leonardis, Daniele; Sarac, Mine; Mechatronics Engineering
Haptic feedback is known to improve the realism and the performance of virtual tasks during manipulation or teleoperation tasks. However, these benefits might depend on the nature of virtual tasks or the intensity of haptic rendering. In this paper, we focused on the impact of the presence and the intensity of the haptic stimulus during sudden, rapid virtual interactions through a variation of an ISO 9241:411 - task instead of calm, exploration-based interactions. We conducted a user study where the haptic stimulus is rendered through a realistic 1-DoF fingertip haptic device with different intensity levels (full-strength, half-strength, and no-strength) as they are asked to choose highlighted targets on a 6-by-5 grid as fast and correctly as possible. Our results show that haptic feedback did not significantly affect user performance regarding time, throughput, or the nature of the selection behavior. However, participants made significantly more errors when haptic feedback was present in half-strength compared to full-strength and no-strength conditions. In the post-experiment questionnaire, participants reported having favored haptic feedback in full strength in terms of perceived realism, enjoyment, and immersion.
Citation - WoS: 2
Citation - Scopus: 3
Eye-Hand Coordination Training: a Systematic Comparison of 2d, Vr, and Ar Display Technologies and Task Instructions
(Ieee Computer Soc, 2024) Aliza, Aliza; Batmaz, Anıl Ufuk; Zaugg, Irene; Saraç Stroppa, Mine; Celik, Elif; Stuerzlinger, Wolfgang; Ortega, Francisco Raul; Batmaz, Anil Ufuk; Sarac, Mine; Mechatronics Engineering
Previous studies on Eye-Hand Coordination Training (EHCT) focused on the comparison of user motor performance across different hardware with cross-sectional studies. In this paper, we compare user motor performance with an EHCT setup in Augmented Reality (AR), Virtual Reality (VR), and on a 2D touchscreen display in a longitudinal study. Through a ten-day user study, we thoroughly analyzed the motor performance of twenty participants with five task instructions focusing on speed, error rate, accuracy, precision, and none. As a novel evaluation criterion, we also analyzed the participants' performance in terms of effective throughput. The results showed that each task instruction has a different effect on one or more psychomotor characteristics of the trainee, which highlights the importance of personalized training programs. Regarding different display technologies, the majority of participants could see more improvement in VR than in 2D or AR. We also identified that effective throughput is a good candidate for monitoring overall motor performance progress in EHCT systems.
Citation - WoS: 0
Citation - Scopus: 0
Effect of Hand and Object Visibility in Navigational Tasks Based on Rotational and Translational Movements in Virtual Reality
(Ieee Computer Soc, 2024) Batmaz, Anıl Ufuk; Saraç Stroppa, Mine; Batmaz, Anil Ufuk; Sarac, Mine; Mechatronics Engineering
During object manipulation in Virtual Reality (VR) systems, realistically visualizing avatars and objects can hinder user performance and experience by complicating the task or distracting the user from the environment due to possible occlusions. Users might feel the urge to go through biomechanical changes, such as re-positioning the head to visualize the interaction area. In this paper, we investigate the effect of hand avatar and object visibility in navigational tasks using a VR headset. We performed two user studies where participants grasped a small, cylindrical object and navigated it through the virtual obstacles performing rotational or translational movements. We used three different visibility conditions for the hand avatar (opaque, transparent, and invisible) and two conditions for the object (opaque and transparent). Our results indicate that participants performed faster and with fewer collisions using the invisible and transparent hands compared to the opaque hand and fewer collisions with the opaque object compared to the transparent one. Furthermore, participants preferred to use the combination of the transparent hand avatar with the opaque object. The findings of this study might be useful to researchers and developers in deciding the visibility/transparency conditions of hand avatars and virtual objects for tasks that require precise navigational activities.
Citation - WoS: 1
Citation - Scopus: 3
Effect of Grip Style on Peripersonal Target Pointing in Vr Head Mounted Displays
(Ieee Computer Soc, 2023) Batmaz, Anil Ufuk; Batmaz, Anıl Ufuk; Turkmen, Rumeysa; Saraç Stroppa, Mine; Sarac, Mine; Machuca, Mayra Donaji Barrera; Stuerzlinger, Wolfgang; Mechatronics Engineering
When working in Virtual Reality (VR), the user's performance is affected by how the user holds the input device (e.g., controller), typically using either a precision or a power grip. Previous work examined these grip styles for 3D pointing at targets at different depths in peripersonal space and found that participants had a lower error rate with the precision grip but identified no difference in movement speed, throughput, or interaction with target depth. Yet, this previous experiment was potentially affected by tracking differences between devices. This paper reports an experiment that partially replicates and extends the previous study by evaluating the effect of grip style on the 3D selection of nearby targets with the same device. Furthermore, our experiment re-investigates the effect of the vergence-accommodation conflict (VAC) present in current stereo displays on 3D pointing in peripersonal space. Our results show that grip style significantly affects user performance. We hope that our results are useful for researchers and designers when creating virtual environments.
Citation - WoS: 8
Citation - Scopus: 9
Haptic Feedback Relocation From the Fingertips To the Wrist for Two-Finger Manipulation in Virtual Reality
(IEEE, 2022) Palmer, Jasmin E.; Saraç Stroppa, Mine; Sarac, Mine; Garza, Aaron A.; Okamura, Allison M.; Mechatronics Engineering
Relocation of haptic feedback from the fingertips to the wrist has been considered as a way to enable haptic interaction with mixed reality virtual environments while leaving the fingers free for other tasks. We present a pair of wrist-worn tactile haptic devices and a virtual environment to study how various mappings between fingers and tactors affect task performance. The haptic feedback rendered to the wrist reflects the interaction forces occurring between a virtual object and virtual avatars controlled by the index finger and thumb. We performed a user study comparing four different finger-totactor haptic feedback mappings and one no-feedback condition as a control. We evaluated users' ability to perform a simple pick-and-place task via the metrics of task completion time, path length of the fingers and virtual cube, and magnitudes of normal and shear forces at the fingertips. We found that multiple mappings were effective, and there was a greater impact when visual cues were limited. We discuss the limitations of our approach and describe next steps toward multi-degreeof-freedom haptic rendering for wrist-worn devices to improve task performance in virtual environments.
Citation - WoS: 2
Citation - Scopus: 2
Touch To Learn: a Review of Haptic Technology's Impact on Skill Development and Enhancing Learning Abilities for Children
(Wiley, 2024) Hatira, Amal; Saraç Stroppa, Mine; Sarac, Mine; Mechatronics Engineering
Early childhood education is critical in shaping children's intellectual and motor skills as it provides a solid foundation for cognitive, social, and emotional development, which highly depends on spatial thinking. Haptic feedback can be effectively used for educational and training purposes, particularly in fields such as physics, math, and arts, offering a more interactive learning media and supporting kinesthetic learners by its nature. Herein, different ways of implementing haptic feedback on different educational scenarios from the perspective of technological development and their impact on children's learned skills and outcomes (e.g., their motivation, their analytical or spatial thinking abilities, or fine motor skills) will be examined. This article provides an overview of how haptic feedback has been implemented in different learning scenarios for children. Particularly, it is indicated that haptics can potentially improve early childhood learning outcomes and spatial reasoning skills as it can increase children's interest, participation, performance in educational activities, and analytical ability. The major drawbacks of the current studies, such as variance in participants' learning challenges and small sample numbers are also highlighted. Haptic feedback can be used for educationand training , offering a more interactive learning media and supporting kinesthetic learners by its nature. Herein, we provide an overview of how haptic feedback has been implemented in different learning scenarios for children from the perspective of technological development and their impact on learned skills, achieved motivation, thinking abilities, or fine motor skills.image (c) 2024 WILEY-VCH GmbH
Citation - WoS: 1
Citation - Scopus: 2
The Impact of Evolutionary Computation on Robotic Design: a Case Study With an Underactuated Hand Exoskeleton
(Ieee, 2024) Stroppa, Fabıo; Saraç Stroppa, Mine; Soylemez, Aleyna; Zyada, Mazhar Eid; Sarac, Mine; Stroppa, Fabio; Mechatronics Engineering; Computer Engineering
Robotic exoskeletons can enhance human strength and aid people with physical disabilities. However, designing them to ensure safety and optimal performance presents significant challenges. Developing exoskeletons should incorporate specific optimization algorithms to find the best design. This study investigates the potential of Evolutionary Computation (EC) methods in robotic design optimization, with an underactuated hand exoskeleton (U-HEx) used as a case study. We propose improving the performance and usability of the U-HEx design, which was initially optimized using a naive brute-force approach, by integrating EC techniques such as Genetic Algorithm and Big Bang-Big Crunch Algorithm. Comparative analysis revealed that EC methods consistently yield more precise and optimal solutions than brute force in a significantly shorter time. This allowed us to improve the optimization by increasing the number of variables in the design, which was impossible with naive methods. The results show significant improvements in terms of the torque magnitude the device transfers to the user, enhancing its efficiency. These findings underline the importance of performing proper optimization while designing exoskeletons, as well as providing a significant improvement to this specific robotic design.

Saraç Stroppa, Mine

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