@article {pezent2023AIS, title = {Multisensory Pseudo-Haptics for Rendering Manual Interactions with Virtual Objects}, journal = {Advanced Intelligent Systems}, volume = {n/a}, number = {n/a}, year = {2023}, pages = {2200303}, abstract = {

Recent advances in extended reality (XR) technologies make seeing and hearing virtual objects commonplace, yet strategies for synthesizing haptic interactions with virtual objects continue to be limited. Two design principles govern the rendering of believable and intuitive haptic feedback: movement through open space must feel {\textquotedblleft}free{\textquotedblright} while contact with virtual objects must feel stiff. Herein, a novel multisensory approach that conveys proprioception and effort through illusory visual feedback and refers to the wrist, via a bracelet interface, discrete and continuous interaction forces that would otherwise occur at the hands and fingertips, is presented. Results demonstrate that users reliably discriminate the stiffness of virtual buttons when provided with multisensory pseudohaptic feedback, comprising tactile pseudohaptic feedback (discrete vibrotactile feedback and continuous squeeze cues in a bracelet interface) and visual pseudohaptic illusions of touch interactions. Compared to the use of tactile or visual pseudohaptic feedback alone, multisensory pseudohaptic feedback expands the range of physical stiffnesses that are intuitively associated with the rendered virtual interactions and reduces individual differences in physical-to-virtual stiffness mappings. This multisensory approach, which leaves users{\textquoteright} hands unencumbered, provides a flexible framework for synthesizing a wide array of touch-enabled interactions in XR, with great potential for enhancing user experiences.

}, keywords = {augmented reality, bracelet, haptic interaction, haptics, Virtual reality, wearables}, doi = {https://doi.org/10.1002/aisy.202200303}, url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/aisy.202200303}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Advanced\%20Intelligent\%20Systems\%20-\%202023\%20-\%20Pezent\%20-\%20Multisensory\%20Pseudo\%E2\%80\%90Haptics\%20for\%20Rendering\%20Manual\%20Interactions\%20with\%20Virtual.pdf}, author = {Pezent, Evan and Macklin, Alix and Yau, Jeffrey M. and Colonnese, Nicholas and O{\textquoteright}Malley, Marcia K.} } @article {PezentTRO2022, title = {Design, Control, and Psychophysics of Tasbi: A Force-Controlled Multimodal Haptic Bracelet}, journal = {IEEE Transactions on Robotics}, volume = {38}, number = {5}, year = {2022}, pages = {2962-2978}, doi = {10.1109/TRO.2022.3164840}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_TRO_2022_Pezent_Tasbi.pdf}, author = {Pezent, Evan and Agarwal, Priyanshu and Hartcher-O{\textquoteright}Brien, Jessica and Colonnese, Nicholas and O{\textquoteright}Malley, Marcia K.} } @proceedings {2057, title = {Explorations of wrist haptic feedback for AR/VR interactions with Tasbi}, year = {2022}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Pezent_CHI_2022.pdf}, author = {Pezent, Evan and Gupta, Aakar and Duhaime, Hank and O{\textquoteright}Malley, Marcia and Israr, Ali and Samad, Majed and Robinson, Shea and Agarwal, Priyanshu and Benko, Hrvoje and Colonnese, Nick} } @proceedings {1978, title = {Explorations of Wrist Haptic Feedback for AR/VR Interactions with Tasbi}, year = {2020}, publisher = {Association for Computing Machinery}, address = {New York, NY, USA}, keywords = {bracelet, haptics, multisensory, Virtual reality, wearables}, isbn = {9781450368193}, doi = {10.1145/3334480.3383151}, url = {https://doi.org/10.1145/3334480.3383151}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/tasbi_chi2020_20200216_compressed.pdf}, author = {Pezent, Evan and O{\textquoteright}Malley, Marcia K. and Israr, Ali and Samad, Majed and Robinson, Shea and Agarwal, Priyanshu and Benko, Hrvoje and Colonnese, Nicholas} } @article {1934, title = {Spatially Separating Haptic Guidance from Task Dynamics through Wearable Devices.}, journal = {IEEE Trans Haptics}, volume = {12}, number = {4}, year = {2019}, month = {2019 December}, pages = {581 - 593}, abstract = {

Haptic devices have a high potential for delivering tailored training to novices. These devices can simulate forces associated with real-world tasks, or provide guidance forces that convey task completion and learning strategies. It has been shown, however, that providing both task forces and guidance forces simultaneously through the same haptic interface can lead to novices depending on guidance, being unable to demonstrate skill transfer, or learning the wrong task altogether. This work presents a novel solution whereby task forces are relayed via a kinesthetic haptic interface, while guidance forces are spatially separated through a cutaneous skin stretch modality. We explore different methods of delivering cutaneous based guidance to subjects in a dynamic trajectory following task. We next compare cutaneous guidance to kinesthetic guidance, as is traditional to spatially separated assistance. We further investigate the role of placing cutaneous guidance ipsilateral versus contralateral to the task force device. The efficacies of each guidance condition are compared by examining subject error and movement smoothness. Results show that cutaneous guidance can be as effective as kinesthetic guidance, making it a practical and cost-effective alternative for spatially separated assistance.

}, issn = {2329-4051}, doi = {10.1109/TOH.2019.2919281}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/pezent_toh2019.pdf}, author = {Pezent, Evan and Fani, Simone and Clark, Janelle and Bianchi, Matteo and OMalley, Marcia K} } @article {rose2018wrist, title = {Assessing Wrist Movement With Robotic Devices}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {26}, number = {8}, year = {2018}, pages = {1585{\textendash}1595}, abstract = {

Robotic devices have been proposed to meet the rising need for high intensity, long duration, and goal-oriented therapy required to regain motor function after neurological injury. Complementing this application, exoskeletons can augment traditional clinical assessments through precise, repeatable measurements of joint angles and movement quality. These measures assume that exoskeletons are making accurate joint measurements with a negligible effect on movement. For the coupled and coordinated joints of the wrist and hand, the validity of these two assumptions cannot be established by characterizing the device in isolation. To examine these assumptions, we conducted three user-in-the-loop experiments with able-bodied participants. First, we compared robotic measurements to an accepted modality to determine the validity of joint- and trajectory-level measurements. Then, we compared those movements to movements without the device to investigate the effects of device dynamic properties on wrist movement characteristics. Last, we investigated the effect of the device on coordination with a redundant, coordinated pointing task with the wrist and hand. For all experiments, smoothness characteristics were preserved in the robotic kinematic measurement and only marginally impacted by robot dynamics, validating the exoskeletons for use as assessment devices. Stemming from these results, we propose design guidelines for exoskeletal assessment devices.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/rose2018ieee-wrist.pdf}, author = {Rose, Chad G and Pezent, Evan and Kann, Claudia K and Deshpande, Ashish D and O{\textquoteright}Malley, Marcia K} } @proceedings {1921, title = {Separating haptic guidance from task dynamics: A practical solution via cutaneous devices}, year = {2018}, month = {03/2018}, publisher = {IEEE}, address = {San Francisco, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/pezent2018hs.pdf}, author = {Pezent, Evan and Fani, Simone and Bradley, Joshua and Bianchi, Matteo and O{\textquoteright}Malley, Marcia K} } @proceedings {1820, title = {Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation}, year = {2017}, month = {07/2017}, publisher = {IEEE}, address = {London, UK}, abstract = {

Robotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated hand and wrist therapy, often overlooked in rehabilitation robotics, is required to regain the ability to perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has been designed. This paper details the design of the wrist module and several human-related considerations made to maximize its potential as a coordinated hand-wrist device. The serial wrist mechanism has been engineered to facilitate donning and doffing for impaired subjects and to insure compatibility with the hand module in virtual and assisted grasping tasks. Several other practical requirements have also been addressed, including device ergonomics, clinician-friendliness, and ambidextrous reconfigurability. The wrist module{\textquoteright}s capabilities as a rehabilitation device are quantified experimentally in terms of functional workspace and dynamic properties. Specifically, the device possesses favorable performance in terms of range of motion, torque output, friction, and closed-loop position bandwidth when compared with existing devices. The presented wrist module{\textquoteright}s performance and operational considerations support its use in a wide range of future clinical investigations.

}, isbn = {978-1-5386-2296-4}, doi = {10.1109/ICORR.2017.8009333}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/0263_0.pdf}, author = {Pezent, Evan and Rose, Chad G. and Deshpande, Ashish D and O{\textquoteright}Malley, Marcia K} }