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Understanding Continuous and Pleasant Linear Sensations on the Forearm from a Sequential Discrete Lateral Skin-Slip Haptic Device
IEEE Transactions on Haptics ( IF 2.9 ) Pub Date : 2019-10-01 , DOI: 10.1109/toh.2019.2941190
Cara M. Nunez , Sophia R. Williams , Allison M. Okamura , Heather Culbertson

A continuous stroking sensation on the skin can convey messages or emotion cues. We seek to induce this sensation using a combination of illusory motion and lateral stroking via a haptic device. Our system provides discrete lateral skin-slip on the forearm with rotating tactors, which independently provide lateral skin-slip in a timed sequence. We vary the sensation by changing the angular velocity and delay between adjacent tactors, such that the apparent speed of the perceived stroke ranges from 2.5 to 48.2 cm/s. We investigated which actuation parameters create the most pleasant and continuous sensations through a user study with 16 participants. On average, the sensations were rated by participants as both continuous and pleasant. The most continuous and pleasant sensations were created by apparent speeds of 7.7 and 5.1 cm/s, respectively. We also investigated the effect of spacing between contact points on the pleasantness and continuity of the stroking sensation, and found that the users experience a pleasant and continuous linear sensation even when the space between contact points is relatively large (40 mm). Understanding how sequential discrete lateral skin-slip creates continuous linear sensations can influence the design and control of future wearable haptic devices.

中文翻译:

从顺序离散横向皮肤滑动触觉设备了解前臂上的连续和愉快的线性感觉

皮肤上持续的抚摸感可以传达信息或情感线索。我们试图通过触觉设备结合使用幻觉运动和横向抚摸来诱发这种感觉。我们的系统在前臂上提供离散的横向皮肤滑动,带有旋转的 tactor,可以按时间顺序独立提供横向皮肤滑动。我们通过改变相邻 tactor 之间的角速度和延迟来改变感觉,使得感知中风的表观速度范围从 2.5 到 48.2 cm/s。我们通过对 16 名参与者的用户研究调查了哪些驱动参数会产生最令人愉悦和持续的感觉。平均而言,参与者认为这种感觉既持续又愉快。7.7 和 5.1 厘米/秒的表观速度分别产生了最持续和愉悦的感觉。我们还研究了接触点间距对抚摸感觉的愉悦性和连续性的影响,发现即使接触点之间的间距相对较大(40 mm),用户也会体验到愉悦且连续的线性感觉。了解连续离散横向皮肤滑动如何产生连续的线性感觉可以影响未来可穿戴触觉设备的设计和控制。
更新日期:2019-10-01
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