scholarly journals Assessment of Intuitiveness and Comfort of Wearable Haptic Feedback Strategies for Assisting Level and Stair Walking

Electronics ◽  
2020 ◽  
Vol 9 (10) ◽  
pp. 1676
Author(s):  
Ilaria Cesini ◽  
Giacomo Spigler ◽  
Sahana Prasanna ◽  
Jessica D’Abbraccio ◽  
Daniela De Luca ◽  
...  
Keyword(s):  
Clinical Trials ◽  
Haptic Feedback ◽  
Ground Level ◽  
Feedback System ◽  
Evaluation Procedure ◽  
Vibrotactile Feedback ◽  
Foot Placement ◽  
Feedback Strategies ◽  
Stair Walking ◽  
Design And Testing

Nowadays, lower-limb prostheses are reaching real-world usability especially on ground-level walking. However, some key tasks such as stair walking are still quite demanding. Providing haptic feedback about the foot placement on the steps might reduce the cognitive load of the task, compensating for increased dependency on vision and lessen the risk of falling. Experiments on intact subjects can be useful to define the feedback strategies prior to clinical trials, but effective methods to assess the efficacy of the strategies are few and usually rely on the emulation of the disability condition. The present study reports on the design and testing of a wearable haptic feedback system in a protocol involving intact subjects to assess candidate strategies to be adopted in clinical trials. The system integrated a sensorized insole wirelessly connected to a textile waist belt equipped with three vibrating motors. Three stimulation strategies for mapping the insole pressure data to vibrotactile feedback were implemented and compared in terms of intuitiveness and comfort perceived during level and stair walking. The strategies were ranked using a relative rating approach, which highlighted the differences between them and suggested guidelines for their improvement. The feedback evaluation procedure proposed could facilitate the selection and improvement of haptic feedback strategies prior to clinical testing.

Vibrotactile Feedback System from the Fingertip to the Temples for Perceptual Enhancement of Contracture Palpation

2021 ◽  
pp. 1-1
Author(s):  
Kazuhiro Niwa ◽  
Yoshihiro Tanaka ◽  
Kota Kitamichi ◽  
Takumi Kuhara ◽  
Kimihiro Uemura ◽  
...  
Keyword(s):  
Feedback System ◽  
Vibrotactile Feedback

A Haptic Feedback System for Lower-Limb Prostheses

2008 ◽  
Vol 16 (3) ◽  
pp. 270-277 ◽  
Author(s):  
R.E. Fan ◽  
M.O. Culjat ◽  
Chih-Hung King ◽  
M.L. Franco ◽  
R. Boryk ◽  
...  
Keyword(s):  
Lower Limb ◽  
Haptic Feedback ◽  
Feedback System ◽  
Lower Limb Prostheses

scholarly journals Sole Mate: Safe Path-Finding by Obstacle Detection and Distance Estimation for the Blind

2019 ◽  
Vol 8 (6S4) ◽  
pp. 50-54
Keyword(s):  
Haptic Feedback ◽  
Distance Estimation ◽  
Feedback System ◽  
Obstacle Detection ◽  
Video Footage ◽  
System A ◽  
The World ◽  
Distance Sensor ◽  
Visually Challenged ◽  
Additional Device

The world has increased its demand for assistive technology (AT). There are a lot of researches and developments going on with respect to AT. Among the AT devices which are being developed, the need for a reliable and less expensive device which serves as an assistance for a visually challenged person is in serious demand all around the world. We, therefore, intend to provide a solution for this by constructing a device that has the capability to detect the obstacles within a given range for a visually challenged person and alerting the person about the obstacles. This involves various components like a camera for image detection, an ultrasonic distance sensor for distance estimation and a vibration motor which works on the principle of Haptic feedback and rotates with varied intensities depending on how far the obstacle is from the user. This paper presents a model which is a part of the footwear of the user and hence, no additional device is required to hold onto for assistance. The model involves the use of a microcontroller, a camera, to dynamically perceive the obstacles and a haptic feedback system to alert the person about the same. The camera dynamically acquires the real time video footage which is further processed by the microcontroller to detect the obstacles. Simultaneously, one more algorithm is being executed to estimate the distance with the help of an ultrasonic distance sensor. Depending on the distance, the frequency of the vibration motor, which acts as the output for notifying the user about the obstacle, is varied (haptic feedback). With this system, a visually challenged person will be able to avoid the obstacles successfully without the use of any additional device.

scholarly journals Evaluation of a Haptic Feedback System for Flight Envelope Protection

2019 ◽  
Author(s):  
Dirk Van Baelen ◽  
Joost Ellerbroek ◽  
Marinus M. van Paassen ◽  
Max Mulder
Keyword(s):  
Haptic Feedback ◽  
Feedback System ◽  
Flight Envelope ◽  
Envelope Protection

Energetically Passive Bilateral Teleoperation of a Pneumatic Crawling Robot

2019 ◽  
Author(s):  
Venkat Durbha ◽  
Perry Y. Li
Keyword(s):  
Haptic Feedback ◽  
Reaction Force ◽  
Human Operator ◽  
Haptic Interfaces ◽  
Bilateral Teleoperation ◽  
Physical Effort ◽  
Pneumatic Actuators ◽  
Foot Placement ◽  
Mechanical Tool ◽  
Control Methodology

Abstract This paper presents the control methodology and experimental results for the bilateral haptic tele-operation of a pneumatic actuated crawling robot. The two front legs of a robot are teleoperated via a pair of PHANToM haptic interfaces. The system gives the human operator the impression that he/she is physically moving and positioning the robot legs. As the legs hit the ground, the operator would also feel the reaction force via the haptic feedback provided by the PHANToMs. To reduce the physical effort by the operator, kinematic and power scaling factors are applied. For stable tele-operation, the closed loop system is controlled to behave like a common energetically passive mechanical tool interacting with the human operator (on the PHANToM’s end) and the physical environment (on the Crawler’s end). The control design strategy treats the pneumatic actuators as a two-port nonlinear spring. While the mechanical port of the actuator acts on the mechanical structure of the crawler’s leg, the fluid port of the actuator is controlled to mimic the interaction between the pneumatic spring and the PHANToM, and to achieve co-ordination. The control methodology has been tested experimentally. While performing crawling motion, the RMS error of the robot foot placement error was 7mm, well within the crawler’s foot diameter of 25.4mm.

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