Haptic Feedback Relocation From the Fingertips To the Wrist for Two-Finger Manipulation in Virtual Reality

dc.authorid Palmer, Jasmin Elena/0009-0004-5337-8143
dc.authorid Okamura, Allison/0000-0002-6912-1666
dc.authorwosid Okamura, Allison M/A-3323-2010
dc.contributor.author Palmer, Jasmin E.
dc.contributor.author Saraç Stroppa, Mine
dc.contributor.author Sarac, Mine
dc.contributor.author Garza, Aaron A.
dc.contributor.author Okamura, Allison M.
dc.contributor.other Mechatronics Engineering
dc.date.accessioned 2023-10-19T15:11:51Z
dc.date.available 2023-10-19T15:11:51Z
dc.date.issued 2022
dc.department-temp [Palmer, Jasmin E.; Garza, Aaron A.; Okamura, Allison M.] Stanford Univ, Dept Mech Engn, Stanford, CA 94305 USA; [Sarac, Mine] Kadir Has Univ, Dept Mechatron Engn, Istanbul, Turkey en_US
dc.description IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) -- OCT 23-27, 2022 -- Kyoto, JAPAN en_US
dc.description.abstract 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. en_US
dc.description.sponsorship IEEE,Royal Soc Japan,IEEE Robot & Automat Soc,IES,SICE,New Technol Fdn en_US
dc.identifier.citationcount 2
dc.identifier.doi 10.1109/IROS47612.2022.9981392 en_US
dc.identifier.endpage 633 en_US
dc.identifier.isbn 978-1-6654-7927-1
dc.identifier.issn 2153-0858
dc.identifier.scopus 2-s2.0-85146355389 en_US
dc.identifier.startpage 628 en_US
dc.identifier.uri https://doi.org/10.1109/IROS47612.2022.9981392
dc.identifier.uri https://hdl.handle.net/20.500.12469/5252
dc.identifier.wos WOS:000908368200061 en_US
dc.khas 20231019-WoS en_US
dc.language.iso en en_US
dc.publisher IEEE en_US
dc.relation.ispartof 2022 Ieee/Rsj International Conference on Intelligent Robots and Systems (Iros) en_US
dc.relation.publicationcategory Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı en_US
dc.rights info:eu-repo/semantics/openAccess en_US
dc.scopus.citedbyCount 9
dc.subject Device
dc.subject Device En_Us
dc.title Haptic Feedback Relocation From the Fingertips To the Wrist for Two-Finger Manipulation in Virtual Reality en_US
dc.type Conference Object en_US
dc.wos.citedbyCount 7
dspace.entity.type Publication
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