TY - JOUR T1 - Multisensory Pseudo-Haptics for Rendering Manual Interactions with Virtual Objects JF - Advanced Intelligent Systems Y1 - 2023 A1 - Pezent, Evan A1 - Macklin, Alix A1 - Yau, Jeffrey M. A1 - Colonnese, Nicholas A1 - O’Malley, Marcia K. KW - augmented reality KW - bracelet KW - haptic interaction KW - haptics KW - Virtual reality KW - wearables AB -

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 “free” 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' hands unencumbered, provides a flexible framework for synthesizing a wide array of touch-enabled interactions in XR, with great potential for enhancing user experiences.

VL - n/a UR - https://onlinelibrary.wiley.com/doi/abs/10.1002/aisy.202200303 ER - TY - Generic T1 - Explorations of Wrist Haptic Feedback for AR/VR Interactions with Tasbi T2 - Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems Y1 - 2020 A1 - Pezent, Evan A1 - O’Malley, Marcia K. A1 - Israr, Ali A1 - Samad, Majed A1 - Robinson, Shea A1 - Agarwal, Priyanshu A1 - Benko, Hrvoje A1 - Colonnese, Nicholas KW - bracelet KW - haptics KW - multisensory KW - Virtual reality KW - wearables JF - Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems PB - Association for Computing Machinery CY - New York, NY, USA SN - 9781450368193 UR - https://doi.org/10.1145/3334480.3383151 ER - TY - Generic T1 - Tasbi: Multisensory Squeeze and Vibrotactile Wrist Haptics for Augmented and Virtual Reality T2 - 2019 IEEE World Haptics Conference (WHC) Y1 - 2019 A1 - E. Pezent A1 - A. Israr A1 - M. Samad A1 - S. Robinson A1 - P. Agarwal A1 - H. Benko A1 - N. Colonnese KW - augmented reality KW - computing interfaces KW - fully immerse users KW - hand interactions KW - Haptic interfaces KW - multisensory haptic wristband KW - multisensory squeeze KW - pseudohaptic effects KW - purely normal squeeze forces KW - sensory substitution device KW - Skin KW - Tactile feedback KW - Tasbi device KW - vibrotactile feedback KW - vibrotactile wrist haptics KW - virtual button KW - Virtual reality KW - virtual world KW - visual information KW - wearable devices JF - 2019 IEEE World Haptics Conference (WHC) ER - TY - CHAP T1 - Robotics as a Tool for Training and Assessment of Surgical Skill T2 - Computational Surgery and Dual Training Y1 - 2014 A1 - O'Malley, Marcia K. A1 - Celik, Ozkan A1 - Huegel, Joel C. A1 - Byrne, Michael D. A1 - Bismuth, Jean A1 - Dunkin, Brian J. A1 - Goh, Alvin C. A1 - Miles, Brian J. ED - Garbey, Marc ED - Bass, Barbara Lee ED - Berceli, Scott ED - Collet, Christophe ED - Cerveri, Pietro KW - Assessment KW - Human–robot interaction KW - Manual KW - Performance measures KW - Rehabilitation robotics KW - Robotics KW - Simulators KW - Skill KW - Skill training KW - Surgical KW - Tasks KW - Virtual reality JF - Computational Surgery and Dual Training PB - Springer New York SN - 978-1-4614-8647-3 UR - http://dx.doi.org/10.1007/978-1-4614-8648-0_24 ER - TY - Generic T1 - Progressive haptic and visual guidance for training in a virtual dynamic task T2 - Haptics Symposium, 2010 IEEE Y1 - 2010 A1 - Huegel, J.C. A1 - O'Malley, M.K. KW - Design engineering KW - dynamic motor skill KW - Error correction KW - expertise-based performance measures KW - Feedback KW - Fixtures KW - Haptic interfaces KW - haptic virtual environment KW - input frequency KW - Mechatronics KW - Performance analysis KW - progressive guidance controller KW - progressive haptic guidance KW - progressive visual guidance KW - Protocols KW - Rehabilitation robotics KW - skill component measures KW - target-hitting task KW - training protocol KW - trajectory error KW - virtual dynamic task KW - virtual environment KW - Virtual reality KW - visual guidance scheme JF - Haptics Symposium, 2010 IEEE ER - TY - Generic T1 - Improved haptic fidelity via reduced sampling period with an FPGA-based real-time hardware platform (IMECE) T2 - ASME International Mechanical Engineering Congress and Exposition, Proceedings Y1 - 2007 A1 - Sevcik, Kevin S. A1 - Kopp, E A1 - O'Malley, M.K. KW - Computer operating systems KW - Damping KW - Field programmable gate arrays (FPGA) KW - Multitasking KW - Real time systems KW - Virtual reality AB -

Impedance based haptic interfaces face inherent challenges in displaying stiff virtual environments. Fidelity of a virtual environment is enhanced by stiff virtual walls combined with low damping and passive behavior of the interface. However, the stiffness of virtual walls displayed on an impedance based interface is limited by the damping inherent in the controller, the sampling rate of the control loop, and the quantization of the controller's position. Attempting to display a stiffness larger than this limiting value destroys the passivity of the interface, leading to active controller behavior and eventually closed loop instability. We propose a method of increasing the fidelity of a PHANToM Premium 1.0 commercial haptic interface by controlling it via a Field Programmable Gate Array (FPGA) both alone and with a Real Time Operating System (RTOS) control system. This custom controller enjoys several benefits over the standard control achieved via a proprietary control card in a Multitasking OS, including reduced system overhead and deterministic loop rate timing. The performance of the proposed FPGA/RTOS controller compares favorably with the performance of an FPGA/Multitasking OS controller. The FPGA/RTOS controller achieves control loop rates an order of magnitude greater than that of the proprietary controller, allowing virtual walls to be displayed with greatly increased stiffnesses, while retaining the passivity and low damping of the PHANToM interface. Copyright © 2007 by ASME.

JF - ASME International Mechanical Engineering Congress and Exposition, Proceedings CY - Seattle, WA, United States VL - 9 PART B N1 -

Real Time Operating System (RTOS) control system;Proprietary control card;

ER - TY - Generic T1 - Adaptation of Haptic Interfaces for a LabVIEW-based System Dynamics Course T2 - 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Y1 - 2006 A1 - Kevin Bowen A1 - O'Malley, M.K. KW - Computer hardware KW - Curricula KW - Dynamic programming KW - Interactive computer systems KW - Virtual reality AB -

This paper describes the development of haptic paddle laboratory kits and associated National Instruments LabVIEW virtual instrumentation to support the adaptation of laboratory experiments for a required undergraduate system dynamics course at Rice University. The laboratory experiments use simple haptic interfaces, devices that allow the students to interact via the sense of touch with virtual environments. A clear benefit of this laboratory series is that students study the haptic paddle as a real electromechanical system in addition to using the haptic paddle as a tool to interact with virtual mechanical systems. The haptic paddle hardware has been modified to improve robustness, and the LabVIEW graphical programming language is used for data acquisition and control throughout the laboratory series. © 2006 IEEE.

JF - 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems CY - Alexandria, VA, United States N1 -

Electromechanical systems;LabVIEW graphical programming languages;

ER - TY - Generic T1 - Haptic Interfaces for a LabVIEW-based System Dynamics Course T2 - ASEE Annual Conference and Exposition Y1 - 2006 A1 - Kevin Bowen A1 - O'Malley, M.K. KW - Computer programming languages KW - Electromechanical devices KW - Engineering education KW - Learning systems KW - Mechanical engineering KW - Students KW - Virtual reality AB -

Too often in undergraduate mechanical engineering courses, the content of laboratory exercises is not well coordinated with course content, and the exercises are unrelated to each other. As a result, students have a difficult time grasping the "big picture" themes. This project at Rice University seeks to improve the effectiveness of laboratory exercises in a required undergraduate mechanical engineering system dynamics course via student-centered learning and laboratory topics featuring haptic paddles, devices that allow users to interact via the sense of touch with virtual environments. One outcome of these improvements is a cohesive set of laboratory experiments using the haptic paddles as a single experimental test bed for multiple experiments. The Haptic Paddle exercises are unique because they allow the students to analyze and build their own haptic interface, or force-reflecting system. The students are able to see many subsets of mechanical engineering come together in a series of exercises, including assembly, system analysis, calibration, system modeling, and dynamics. Finally, a key advantage to the haptic paddle labs is that they tie closely with the course material. This paper describes the development of haptic paddle laboratory kits and associated National Instruments LabVIEW virtual instrumentation to support the adaptation of laboratory experiments for a required undergraduate system dynamics course at Rice University. The laboratory experiments use simple haptic interfaces, devices that allow the students to interact via the sense of touch with virtual environments. A clear benefit of this laboratory series is that students study the haptic paddle as a real electromechanical system in addition to using the haptic paddle as a tool to interact with virtual mechanical systems. The haptic paddle hardware has been modified to improve robustness, and the LabVIEW graphical programming language is used for data acquisition and control throughout the laboratory series. The paper will present some details of the laboratory components, and preliminary assessment of learning outcomes using this laboratory series compared to more traditional modular labs used in prior years. © American Society for Engineering Education, 2006.

JF - ASEE Annual Conference and Exposition CY - Chicago, IL, United States N1 -

Labview;Course content;Laboratory exercises;Haptic paddles;

ER - TY - JOUR T1 - On the ability of humans to haptically identify and discriminate real and simulated objects JF - Presence (USA) Y1 - 2005 A1 - O'Malley, M.K. A1 - Michael Goldfarb KW - Haptic interfaces KW - Virtual reality AB -

The ability of human subjects to identify and discriminate between different-sized real objects was compared with their ability to identify and discriminate between different-sized simulated objects generated by a haptic interface. This comparison was additionally performed for cases of limited force and limited stiffness output from the haptic device, which in effect decrease the fidelity of the haptic simulation. Results indicate that performance of size-identification tasks with haptic-interface hardware capable of a minimum of 3 N of maximum force output can approach performance in real environments, but fails short when virtual surface stiffness is limited. For size-discrimination tasks, performance in simulated environments was consistently lower than performance in a comparable real environment. Interestingly, significant variations in the fidelity of the haptic simulation do not appear to significantly alter the ability of a subject to identify or discriminate between the types of simulated objects described herein

VL - 14 UR - http://dx.doi.org/10.1162/105474605323384690 N1 - real object;simulated object;human subject;haptic interface;haptic simulation;size-identification task;virtual surface stiffness; ER - TY - Generic T1 - Human-machine admittance and transparency adaptation in passive user interaction with a haptic interface T2 - First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05) Y1 - 2005 A1 - McJunkin, Samuel A1 - Yanfang Li A1 - O'Malley, M.K. KW - Haptic interfaces KW - Human computer interaction KW - Manipulators KW - Virtual reality AB -

This paper addresses human adaptation to changes in coupling impedance and force amplitude during passive user induced (PUI) interactions with a haptic interface. PUI interactions are characterized as event-based haptic interactions or haptic recordings that are replayed to the user. In the study, virtual environments are displayed to passive users with variable coupling stiffness and force amplitudes, and transparency bandwidth and human-machine admittance are measured. Results indicate that transparency bandwidth and the human-machine admittance do not change significantly for permutations of force amplitudes and coupling impedances, nor do they vary significantly across users. The reason for this invariance is that, during a PUI interaction, users tend approach a similar displacement profile. As a result, all users will have similar apparent admittance and transparency. The findings give sufficient justification for the use of universal compensators that improve transparency bandwidth, and that can be designed based solely on a priori transparency measurements for a typical user

JF - First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05) CY - Pisa, Italy UR - http://www2.computer.org/portal/web/csdl/doi/10.1109/WHC.2005.76 N1 -

human-machine admittance;transparency adaptation;passive user interaction;haptic interface;force amplitude;passive user induced interactions;event-based haptic interactions;virtual environments;force amplitudes;transparency bandwidth;

ER - TY - JOUR T1 - The effect of virtual surface stiffness on the haptic perception of detail JF - IEEE/ASME Transactions on Mechatronics Y1 - 2004 A1 - O'Malley, M.K. A1 - Michael Goldfarb KW - Computer aided design KW - Computer hardware KW - Computer simulation KW - Degrees of freedom (mechanics) KW - Manipulators KW - Object recognition KW - Sensory perception KW - Specifications KW - Stiffness KW - Surface properties KW - Virtual reality AB -

This brief presents a quantitative study of the effects of virtual surface stiffness in a simulated haptic environment on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross section ridges. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum level of virtual surface stiffness in the simulation increases. Further, test subjects appeared to reach a limit in their perception capabilities at maximum stiffness levels of 300 to 400 N/m, while the hardware was capable of 1000 N/m of maximum virtual surface stiffness. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of virtual surface stiffness. © 2004 IEEE.

VL - 9 UR - http://dx.doi.org/10.1109/TMECH.2004.828625 N1 -

Virtual surface stiffness;Haptic perception;Design specifications;Haptic interface hardware;

ER - TY - Generic T1 - Passive and active assistance for human performance of a simulated underactuated dynamic task T2 - Proceedings 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2003 Y1 - 2003 A1 - O'Malley, M.K. A1 - Abhishek Gupta KW - Haptic interfaces KW - Virtual reality AB -

Machine-mediated training of dynamic task completion is typically implemented with passive intervention via virtual fixtures or active assist by means of record and replay strategies. During interaction with a real dynamic system however, the user relies on both visual and haptic feedback real-time in order to elicit desired motions. This work investigates human performance in a Fitts' type targeting task with an underactuated dynamic system. Performance, in terms of number of hits and between-target tap times, is measured while various passive and active control modes are displayed concurrently with the haptic feedback from the simulated system's own dynamic behavior. It Is hypothesized that passive and active assist modes that are implemented during manipulation of simulated underactuated systems could be beneficial in rehabilitation applications. Results indicate that human performance can be improved significantly with the passive and active assist modes

JF - Proceedings 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2003 CY - Los Angeles, CA, USA UR - http://dx.doi.org/10.1109/HAPTIC.2003.1191308 N1 -

simulated underactuated dynamic task;machine-mediated training;virtual fixtures;active assist;haptic feedback;visual feedback;

ER - TY - Generic T1 - Skill transfer in a simulated underactuated dynamic task T2 - Proceedings. RO-Man 2003. The 12th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Cat. No. 03TH8711) Y1 - 2003 A1 - O'Malley, M.K. A1 - Abhishek Gupta KW - computer based training KW - Haptic interfaces KW - learning (artificial intelligence) KW - Virtual reality AB -

Machine-mediated teaching of dynamic task completion is typically implemented with passive intervention via virtual fixtures or active assist by means of record and replay strategies. During interaction with a real dynamic system however, the user relies on both visual and haptic feedback in order to elicit desired motions. This work investigates skill transfer from assisted to unassisted modes for a Fitts' type targeting task with an underactuated dynamic system. Performance, in terms of between target tap times, is measured during an unassisted baseline session and during various types of assisted training sessions. It is hypothesized that passive and active assist modes that are implemented during training of a dynamic task could improve skill transfer to a real environment or unassisted simulation of the task. Results indicate that transfer of skill is slight but significant for the assisted training modes

JF - Proceedings. RO-Man 2003. The 12th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Cat. No. 03TH8711) CY - Millbrae, CA, USA UR - http://dx.doi.org/10.1109/ROMAN.2003.1251864 N1 -

underactuated dynamic system;Fitts' type;skill transfer;haptic feedback;

ER - TY - Generic T1 - Comparison of human haptic size identification and discrimination performance in real and simulated environments T2 - Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002 Y1 - 2002 A1 - Marcia Kilchenman A1 - Michael Goldfarb KW - delay estimation KW - force feedback KW - Haptic interfaces KW - human factors KW - mechanoception KW - Virtual reality AB -

The performance levels of human subjects in size identification and discrimination experiments in both real and virtual environments are presented. The virtual environments are displayed with a three degree-of-freedom haptic interface, developed at Vanderbilt University. The results indicate that performance of the size identification and discrimination tasks in the virtual environment is comparable to that in the real environment, implying that the haptic device does a good job of simulating reality for these tasks. Additionally, performance in the virtual environment was measured at below-maximum machine performance levels for three machine parameters. The tabulated scores for the perception tasks in a sub-optimal virtual environment were found to be comparable to that in the real environment, supporting previous claims that haptic interface hardware may be able to convey, for these perceptual tasks, sufficient perceptual information to the user with relatively low levels of machine quality in terms of the following parameters: maximum end-point force, system bandwidth and time delay

JF - Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002 CY - Orlando, FL, USA UR - http://dx.doi.org/10.1109/HAPTIC.2002.998935 N1 -

human performance;size identification;size discrimination;simulated environments;haptic interface;machine performance levels;machine parameters;sub-optimal virtual environment;real environment;perception tasks;perceptual information;machine quality;maximum end-point force;system bandwidth;time delay;

ER - TY - JOUR T1 - The effect of force saturation on the haptic perception of detail JF - IEEE/ASME Transactions on Mechatronics Y1 - 2002 A1 - O'Malley, M.K. A1 - Michael Goldfarb KW - Computer control systems KW - Computer simulation KW - Feedback control KW - Haptic interfaces KW - Identification (control systems) KW - Nonlinear control systems KW - Virtual reality AB -

This paper presents a quantitative study of the effects of maximum capable force magnitude of a haptic interface on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross-section ridges, in addition to corner detection tests. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum allowable level of force in the simulation increases. Further, all test subjects appeared to reach a limit in their perception capabilities at maximum-force output levels of 3-4 N, while the hardware was capable of 10 N of maximum continuous force output. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of force feedback. The data is compiled to aid those who wish to design a stylus-type haptic interface to meet certain requirements for the display of physical detail within a haptic simulation.

VL - 7 UR - http://dx.doi.org/10.1109/TMECH.2002.802725 N1 - Force saturation effect;Haptic perception;Force feedback; ER - TY - Generic T1 - The implications of surface stiffness for size identification and perceived surface hardness in haptic interfaces T2 - Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) Y1 - 2002 A1 - O'Malley, M.K. A1 - Michael Goldfarb KW - delays KW - Haptic interfaces KW - human factors KW - Virtual reality AB -

This paper presents a two-part study of the effects of virtual surface stiffness on haptic perception. First, size identification experiments were performed to determine the effects of system quality, in terms of surface stiffness, on the ability of a human to identify square cross-section ridges by size in a simulated environment. Then, discrimination experiments were performed to determine relationships between virtual surface stiffness and simulation quality in terms of perceived surface hardness. Results of experiments to test human haptic perception for varying virtual surface stiffnesses indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user at relatively low levels of virtual surface stiffness. Subjects, however, can perceive improvements in perceived simulated surface hardness as stiffness levels are increased in the range of achievable parameters for this hardware. The authors draw several conclusions about the allowable time delays in a haptic interface system based on the results of the surface stiffness experiments

JF - Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) CY - Washington, DC, USA VL - vol.2 UR - http://dx.doi.org/10.1109/ROBOT.2002.1014715 N1 -

surface stiffness;virtual surface stiffness;haptic perception;time delays;size identification;perceived surface hardness;haptic interfaces;

ER -