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2018


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Assessment Of Atypical Motor Development In Infants Through Toy-Stimulated Play And Center Of Pressure Analysis

Zhao, S., Mohan, M., Torres, W. O., Bogen, D. K., Shofer, F. S., Prosser, L., Loeb, H., Johnson, M. J.

In Proceedings of the Annual Rehabilitation Engineering and Assistive Technology Society of North America (RESNA) Conference, Arlington, USA, July 2018 (inproceedings)

Abstract
There is a need to identify measures and create systems to assess motor development at an early stage. Center of Pressure (CoP) is a quantifiable metric that has been used to investigate postural control in healthy young children [6], children with CP [7], and infants just beginning to sit [8]. It was found that infants born prematurely exhibit different patterns of CoP movement than infants born full-term when assessing development impairments relating to postural control [9]. Preterm infants exhibited greater CoP excursions but had greater variability in their movements than fullterm infants. Our solution, the Play And Neuro-Development Assessment (PANDA) Gym, is a sensorized environment that aims to provide early diagnosis of neuromotor disorder in infants and improve current screening processes by providing quantitative measures rather than subjective ones, and promoting natural play with the stimulus of toys. Previous studies have documented stages in motor development in infants [10, 11], and developmental delays could become more apparent through toy interactions. This study examines the sensitivity of the pressure-sensitive mat subsystem to detect differences in CoP movement patterns for preterm and fullterm infants less than 6 months of age, with varying risk levels. This study aims to distinguish between typical and atypical motor development through assessment of the CoP data of infants in a natural play environment, in conditions where movement may be further stimulated with the presence of a toy.

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link (url) [BibTex]

2018


link (url) [BibTex]


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Travelling Ultrasonic Wave Enhances Keyclick Sensation

Gueorguiev, D., Kaci, A., Amberg, M., Giraud, F., Lemaire-Semail, B.

In Haptics: Science, Technology, and Applications, pages: 302-312, Springer International Publishing, Cham, 2018 (inproceedings)

Abstract
A realistic keyclick sensation is a serious challenge for haptic feedback since vibrotactile rendering faces the limitation of the absence of contact force as experienced on physical buttons. It has been shown that creating a keyclick sensation is possible with stepwise ultrasonic friction modulation. However, the intensity of the sensation is limited by the impedance of the fingertip and by the absence of a lateral force component external to the finger. In our study, we compare this technique to rendering with an ultrasonic travelling wave, which exerts a lateral force on the fingertip. For both techniques, participants were asked to report the detection (or not) of a keyclick during a forced choice one interval procedure. In experiment 1, participants could press the surface as many time as they wanted for a given trial. In experiment 2, they were constrained to press only once. The results show a lower perceptual threshold for travelling waves. Moreover, participants pressed less times per trial and exerted smaller normal force on the surface. The subjective quality of the sensation was found similar for both techniques. In general, haptic feedback based on travelling ultrasonic waves is promising for applications without lateral motion of the finger.

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[BibTex]

[BibTex]


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Exploring Fingers’ Limitation of Texture Density Perception on Ultrasonic Haptic Displays

Kalantari, F., Gueorguiev, D., Lank, E., Bremard, N., Grisoni, L.

In Haptics: Science, Technology, and Applications, pages: 354-365, Springer International Publishing, Cham, 2018 (inproceedings)

Abstract
Recent research in haptic feedback is motivated by the crucial role that tactile perception plays in everyday touch interactions. In this paper, we describe psychophysical experiments to investigate the perceptual threshold of individual fingers on both the right and left hand of right-handed participants using active dynamic touch for spatial period discrimination of both sinusoidal and square-wave gratings on ultrasonic haptic touchscreens. Both one-finger and multi-finger touch were studied and compared. Our results indicate that users' finger identity (index finger, middle finger, etc.) significantly affect the perception of both gratings in the case of one-finger exploration. We show that index finger and thumb are the most sensitive in all conditions whereas little finger followed by ring are the least sensitive for haptic perception. For multi-finger exploration, the right hand was found to be more sensitive than the left hand for both gratings. Our findings also demonstrate similar perception sensitivity between multi-finger exploration and the index finger of users' right hands (i.e. dominant hand in our study), while significant difference was found between single and multi-finger perception sensitivity for the left hand.

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[BibTex]

[BibTex]

2012


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Surgical Instrument Vibrations are a Construct-Valid Measure of Technical Skill in Robotic Peg Transfer and Suturing Tasks

Bark, K., Gomez, E. D., Rivera, C., McMahan, W., Remington, A., Murayama, K., Lee, D. I., Dumon, K., Williams, N., Kuchenbecker, K. J.

In Proc. Hamlyn Symposium on Medical Robotics, pages: 50-51, London, England, July 2012, Oral presentation given by Bark (inproceedings)

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[BibTex]

2012


[BibTex]


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Spectral Subtraction of Robot Motion Noise for Improved Vibrotactile Event Detection

McMahan, W., Kuchenbecker, K. J.

In Haptics: Perception, Devices, Mobility, and Communication: Proc. EuroHaptics, Part I, 7282, pages: 326-337, Lecture Notes in Computer Science, Springer, Tampere, Finland, June 2012, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Refined Methods for Creating Realistic Haptic Virtual Textures from Tool-Mediated Contact Acceleration Data

Culbertson, H., Romano, J. M., Castillo, P., Mintz, M., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 385-391, Vancouver, Canada, March 2012, Poster presentation given by Culbertson (inproceedings)

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[BibTex]

[BibTex]


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VerroTouch: Detection of Instrument Vibrations for Haptic Feedback and Skill Assessment in Robotic Surgery

Gomez, E. D., Bark, K., McMahan, W., Rivera, C., Remington, A., Lee, D. I., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES), San Diego, California, USA, March 2012, Emerging Technology Poster presentation given by Gomez. Poster available at \href{http://thesagesmeeting.org/}{http://thesagesmeeting.org/} (inproceedings)

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[BibTex]

[BibTex]


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Using Accelerometers to Localize Tactile Contact Events on a Robot Arm

McMahan, W., Romano, J. M., Kuchenbecker, K. J.

In Proc. Workshop on Advances in Tactile Sensing and Touch-Based Human-Robot Interaction, ACM/IEEE International Conference on Human-Robot Interaction, Boston, Massachusetts, March 2012, Oral presentation given by McMahan (inproceedings)

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[BibTex]

[BibTex]


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Recreating the feel of the human chest in a CPR manikin via programmable pneumatic damping

Stanley, A. A., Healey, S. K., Maltese, M. R., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 37-44, Vancouver, Canada, March 2012, Oral presentation given by Stanley (inproceedings)

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[BibTex]

[BibTex]


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HALO: Haptic Alerts for Low-hanging Obstacles in White Cane Navigation

Wang, Y., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 527-532, Vancouver, Canada, March 2012, Poster presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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VerroTeach: Visuo-audio-haptic Training for Dental Caries Detection

Maggio, M. P., Parajon, R., Kuchenbecker, K. J.

In Proc. Annual American Dental Educator’s Association (ADEA) Conference, Orlando, Florida, 2012, Oral presentation given by Maggio (inproceedings)

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[BibTex]

[BibTex]


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A Data-Driven Method for Determining Natural Human-Robot Motion Mappings in Teleoperation

Pierce, R. M., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Biomedical Robotics and Biomechatronics, pages: 169-176, Rome, Italy, 2012, Poster presentation given by Pierce (inproceedings)

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[BibTex]

[BibTex]


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Low Bitrate Source-filter Model Based Compression of Vibrotactile Texture Signals in Haptic Teleoperation

Chaudhari, R., Çizmeci, B., Kuchenbecker, K. J., Choi, S., Steinbach, E.

In Proc. ACM Multimedia, pages: 409-418, Nara, Japan, 2012, Oral presentation given by {Chaudhari} (inproceedings)

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[BibTex]

[BibTex]


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Robotic Learning of Haptic Adjectives Through Physical Interaction

McMahon, I., Chu, V., Riano, L., McDonald, C. G., He, Q. (., Perez-Tejada, J. M., Arrigo, M., Fitter, N., Nappo, J., Darrell, T., Kuchenbecker, K. J.

In Proc. IROS Workshop on Advances in Tactile Sensing and Touch-based Human-robot Interaction, Vilamoura, Algarve, Portugal, 2012, Oral presentation given by McMahon (inproceedings)

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[BibTex]

[BibTex]

2011


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Planning manipulation and grasping tasks with a redundant arm

Gray, S. R., Romano, J. M., Brindza, J., Kim, S., Kuchenbecker, K. J., Kumar, V.

In Proc. ASME International Design Engineering Technical Conferences, Washington, D.C., USA, 2011, DETC2011-47453. Oral presentation given by Gray (inproceedings)

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[BibTex]

2011


[BibTex]


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Lessons in Using Vibrotactile Feedback to Guide Fast Arm Motions

Bark, K., Khanna, P., Irwin, R., Kapur, P., Jax, S. A., Buxbaum, L. J., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 355-360, Istanbul, Turkey, June 2011, Poster presentation given by Bark (inproceedings)

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[BibTex]

[BibTex]


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Haptically Assisted Golf Putting Through a Planar Four-Cable System

Huang, P. Y., Kunkel, J. A., Brindza, J., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 191-196, Istanbul, Turkey, June 2011, Poster presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Design of Body-Grounded Tactile Actuators for Playback of Human Physical Contact

Stanley, A. A., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 563-568, Istanbul, Turkey, June 2011, Poster presentation given by Stanley (inproceedings)

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[BibTex]

[BibTex]


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Tool Vibration Feedback May Help Expert Robotic Surgeons Apply Less Force During Manipulation Tasks

McMahan, W., Bark, K., Gewirtz, J., Standish, D., Martin, P. D., Kunkel, J. A., Lilavois, M., Wedmid, A., Lee, D. I., Kuchenbecker, K. J.

In Proc. Hamlyn Symposium on Medical Robotics, pages: 37-38, London, England, June 2011, Oral Presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Haptography: Capturing and Recreating the Rich Feel of Real Surfaces

Kuchenbecker, K. J., Romano, J. M., McMahan, W.

In Proceedings of the International Symposium on Robotics Research (ISRR), 70, pages: 245-260, Springer Tracts in Advanced Robotics, Springer, 2011, Oral presentation given by Kuchenbecker in August of 2009 (inproceedings)

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[BibTex]

[BibTex]

2005


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Perception of Curvature and Object Motion Via Contact Location Feedback

Provancher, W. R., Kuchenbecker, K. J., Niemeyer, G., Cutkosky, M. R.

In Proceedings of the International Symposium on Robotics Research (ISRR), 15, pages: 456-465, Springer Tracts in Advanced Robotics, Springer, Siena, Italy, 2005, Oral presentation given by Provancher in October of 2003 (inproceedings)

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[BibTex]

2005


[BibTex]


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Modeling Induced Master Motion in Force-Reflecting Teleoperation

Kuchenbecker, K. J., Niemeyer, G.

In Proc. IEEE International Conference on Robotics and Automation, pages: 348-353, Barcelona, Spain, April 2005, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Event-Based Haptics and Acceleration Matching: Portraying and Assessing the Realism of Contact

Kuchenbecker, K. J., Fiene, J. P., Niemeyer, G.

In Proc. IEEE World Haptics Conference, pages: 381-387, Pisa, Italy, March 2005, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]

2003


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Characterizing the Human Wrist for Improved Haptic Interaction

Kuchenbecker, K. J., Park, J. G., Niemeyer, G.

In Proc. ASME International Mechanical Engineering Congress and Exposition, Symposium on Advances in Robot Dynamics and Control, 2, paper number 42017, Washington, D.C., USA, November 2003, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

2003


[BibTex]