Surface Reading Model via Haptic Device: An Application Based on Internet of Things and Cloud Environment
Round 1
Reviewer 1 Report
Comments and Suggestions for AuthorsPerceiving different textures through touch is an important way for humans, especially for those with visual impairments, to understand and comprehend the world. In this work, a computer program based the XML language for sensing the differences in image color depth by using haptic/tactile devices. A review of the background studies on the subject is included. However, the comparative analysis in the article still needs to be strengthened.
- The background section elaborates on broad concepts but lacks focus.
- In the section 2, only a simple listing was provided. The content needs to be enhanced with more logical reasoning and detailed analysis of advantages and disadvantages.
- In lines 291-293, the figure numbers need to be checked.
- The 12 kinds of textures used in the user experiment should be listed, and the differences in their correctness should be explained, along with the significance of these results in the user experience.
- The grammar and format of the text need to be checked by a professional.
Author Response
Dear reviewer,
We would like to thank you for your helpful comments on the paper. We appreciate the effort you put on, and the time you devoted to writing your suggestions. We believe, we have been able to address all your comments and correct any deficiencies you have pointed out.
- The background section elaborates on broad concepts but lacks focus.
Thank you for your comments. We really appreciate it. We have endeavored to extend the discussion of Section 2 by adding Table 1 which lists the main contribution (e.g. advantages and disadvantages) of the literature review we have studied. Also, we have added the following table and paragraph.
Table 1. Comparative Table of Assistive Technologies for the Visually Impaired
Ref. |
Authors |
Technology Used |
Advantages |
Disadvantages |
[21] |
M. Jiménez et al. |
Haptic feedback via smart walker |
-Intuitive real-time guidance - Natural feedback system |
- Limited on uneven terrain - May be bulky to carry |
[22] |
A. Mueen et al. |
Fog-assisted IoT with Cloud and NS-3 simulation |
- Smart decision-making - Handles multiple obstacle types - Accurate navigation |
- Requires fog + cloud infrastructure - Not easily deployable without a network |
[23] |
A. K. Srinivas et al. |
IoT-based haptic display (refreshable Braille) |
- Converts messages to Braille - Integrates with smartphones |
- Requires user training - Not focused on navigation or obstacle detection |
[24] |
B. Chaudary et al. |
Teleguidance with haptic actuators |
- Innovative vibration feedback - High user experience quality |
- Dependent on remote guide - Possible communication delays |
[25] |
J. Ganesan et al. |
CNN + LSTM for text/image captioning |
- High accuracy - Converts printed text/images to voice |
- Not a navigation tool - Limited to reading functionality |
[26] |
Y. Bouteraa |
Wearable device with Fuzzy Logic + ROS |
- Combines voice & haptic guidance - Decision-making using fuzzy system - Modular and scalable via ROS |
- Complex system - Requires careful calibration |
[27] |
M. Poggi & S. Mattoccia |
3D vision + deep learning with CNN |
- Accurate depth analysis - Obstacle classification |
- Needs special RGB-D camera - High energy consumption |
[28] |
S. Rao & V. M. Singh |
Smart shoe with sensors + smartphone app |
- Discreet integration (in footwear) - Real-time obstacle alerts |
- Limited vertical obstacle detection - May miss upper body-level hazards |
[29] |
M. S. Farooq et al. |
Smart IoT-based stick with audio/haptic + GPS |
- Portable and low-cost - Detects water and obstacles - Shares user’s location if lost |
- Limited detection angle - Requires user to carry the stick |
[30] |
A. R. See et al. |
Haptic feedback + optimized obstacle detection |
- Sensitive to small objects - Good noise filtering |
- May be too sensitive - Calibration is crucial |
[Section 2, Paragraph 12]
Table 1 summarizes the aforementioned research papers, presenting the advantages and disadvantages of each. Our proposed model can be integrated into such system architectures to make visually impaired people display on the screen in better and higher quality the obstacles providing by the integrated sensors and interact with them through a haptic device to avoid them.
- In the section 2, only a simple listing was provided. The content needs to be enhanced with more logical reasoning and detailed analysis of advantages and disadvantages.
Thank you for your comments. We really appreciate it. We have endeavored to extend the discussion of Section 2 by adding Table 1 which lists the main contribution (e.g. advantages and disadvantages) of the literature review we have studied. Also, we have added the following table and paragraph.
Table 1. Comparative Table of Assistive Technologies for the Visually Impaired
Ref. |
Authors |
Technology Used |
Advantages |
Disadvantages |
[21] |
M. Jiménez et al. |
Haptic feedback via smart walker |
-Intuitive real-time guidance - Natural feedback system |
- Limited on uneven terrain - May be bulky to carry |
[22] |
A. Mueen et al. |
Fog-assisted IoT with Cloud and NS-3 simulation |
- Smart decision-making - Handles multiple obstacle types - Accurate navigation |
- Requires fog + cloud infrastructure - Not easily deployable without a network |
[23] |
A. K. Srinivas et al. |
IoT-based haptic display (refreshable Braille) |
- Converts messages to Braille - Integrates with smartphones |
- Requires user training - Not focused on navigation or obstacle detection |
[24] |
B. Chaudary et al. |
Teleguidance with haptic actuators |
- Innovative vibration feedback - High user experience quality |
- Dependent on remote guide - Possible communication delays |
[25] |
J. Ganesan et al. |
CNN + LSTM for text/image captioning |
- High accuracy - Converts printed text/images to voice |
- Not a navigation tool - Limited to reading functionality |
[26] |
Y. Bouteraa |
Wearable device with Fuzzy Logic + ROS |
- Combines voice & haptic guidance - Decision-making using fuzzy system - Modular and scalable via ROS |
- Complex system - Requires careful calibration |
[27] |
M. Poggi & S. Mattoccia |
3D vision + deep learning with CNN |
- Accurate depth analysis - Obstacle classification |
- Needs special RGB-D camera - High energy consumption |
[28] |
S. Rao & V. M. Singh |
Smart shoe with sensors + smartphone app |
- Discreet integration (in footwear) - Real-time obstacle alerts |
- Limited vertical obstacle detection - May miss upper body-level hazards |
[29] |
M. S. Farooq et al. |
Smart IoT-based stick with audio/haptic + GPS |
- Portable and low-cost - Detects water and obstacles - Shares user’s location if lost |
- Limited detection angle - Requires user to carry the stick |
[30] |
A. R. See et al. |
Haptic feedback + optimized obstacle detection |
- Sensitive to small objects - Good noise filtering |
- May be too sensitive - Calibration is crucial |
[Section 2, Paragraph 12]
Table 1 summarizes the aforementioned research papers, presenting the advantages and disadvantages of each. Our proposed model can be integrated into such system architectures to make visually impaired people display on the screen in better and higher quality the obstacles providing by the integrated sensors and interact with them through a haptic device to avoid them.
- In lines 291-293, the figure numbers need to be checked.
Thank you for this advice. We appreciate your comment. We have revised the test in these lines to be clearer to be understood.
- The 12 kinds of textures used in the user experiment should be listed, and the differences in their correctness should be explained, along with the significance of these results in the user experience.
Thank you for this advice. We appreciate your comment. We revised the Tables 2 and 3 and the related Figures (figures 3 – 7) provide more clear representation of their content, in order to improve their quality and their sharpness.
- The grammar and format of the text need to be checked by a professional.
Thank you for this direction. We appreciate your comment. We revised the paper in a way that makes it easier to understand. Also, we have tried to improve the English grammatical errors of the paper.
The whole corrections or additions we have made in the paper we noticed with blue color.
Thank you very much for your attention and kind consideration.
Sincerely yours,
Dr. Andreas P. Plageras
Ph.D. University of Macedonia
Dept. of Applied Informatics
University of Macedonia
Thessaloniki, Greece
Email: a.plageras@uom.edu.gr
Guest Editor MDPI Applied Sciences Special Issue "Big Data Delivery, Management, and Analysis over IoT"
https://www.mdpi.com/journal/applsci/special_issues/K008MFX53L#editors
Dr. Christos L. Stergiou
Post-Doc. University of Macedonia
Dept. of Applied Informatics
University of Macedonia
Thessaloniki, Greece
Email: c.stergiou@uom.edu.gr
Guest Editor MDPI Applied Sciences Special Issue “Secure Integration of IoT & Digital Twins”
https://www.mdpi.com/journal/applsci/special_issues/1N3J910V3M
Guest Editor MDPI Applied Sciences Special Issue “Application of Data Analytics in Smart Healthcare”
https://www.mdpi.com/journal/applsci/special_issues/Application_Data_Analytics_Smart_Healthcare
Dr. Vasileios A. Memos
Ph.D. University of Macedonia
Dept. of Applied Informatics
University of Macedonia
Thessaloniki, Greece
Email: vmemos@uom.edu.gr
Prof. George Kokkonis
Department of Information and Electronic Engineering
International Hellenic University
Thessaloniki, Greece
Email: gkokkonis@gmail.com
Prof. Yutaka Ishibashi
Department of Business Management
Aichi Sangyo University
Japan
Email: ishibasi@asu.ac.jp
Prof. Kostas E. Psannis
Associate Editor IEEE Access
Associate Editor IEEE Com Letters
Guest Editor MDPI Applied Sciences Special Issue “Secure Integration of IoT & Digital Twins”
https://www.mdpi.com/journal/applsci/special_issues/1N3J910V3M
Guest Editor MDPI Applied Sciences Special Issue “Application of Data Analytics in Smart Healthcare”
https://www.mdpi.com/journal/applsci/special_issues/Application_Data_Analytics_Smart_Healthcare
Guest Editor MDPI Applied Sciences Special Issue “Advancements in QoS/QoE for Future Networks and Their Applications” https://www.mdpi.com/journal/applsci/special_issues/PPMUH0SF3O
Guest Editor MDPI Applied Sciences Special Issue “Application of Data Analytics in Smart Healthcare” https://www.mdpi.com/journal/applsci/special_issues/Application_Data_Analytics_Smart_Healthcare
Guest Editor MDPI Telecom Special Issue “Papers from the 4th World Symposium on Communication Engineering (WSCE 2021)” https://www.mdpi.com/journal/telecom/special_issues/SI_WSCE2021
Guest Editor MDPI Applied Sciences Topical Collection “5G Networks: Optimization, Machine Learning and Blockchain Technologies II” https://www.mdpi.com/journal/applsci/sections/computing_artificial_intelligence
Guest Editor MDPI Telecom Special Issue “6G Wireless Communication Systems” https://www.mdpi.com/journal/telecom/special_issues/6g_wireless_communication
Guest Editor MDPI Sensors Special Issue “Compressive Sensing-Based IoT Applications” https://www.mdpi.com/journal/sensors/special_issues/Compressive_Sensing_IoT
Guest Editor MDPI Information Special Issue “ICCCI 2020&2021: Advances in Baseband Signal Processing, Circuit Designs, and Communications” https://www.mdpi.com/journal/information/special_issues/ICCCI_2020
Guest Editor MDPI Applied Sciences Special Issue “5G Networks: Optimization, Machine Learning And Blockchain Technologies” https://www.mdpi.com/journal/applsci/special_issues/5G_blockchain
Guest Editor MDPI Sensors Special Issue “6G Wireless Communication Systems” https://www.mdpi.com/journal/sensors/special_issues/6g_wireless_communication_systems’
Guest Editor MDPI Telecom Special Issue “Papers from the 4th World Symposium on Communication Engineering (WSCE 2021)” https://www.mdpi.com/journal/telecom/special_issues/SI_WSCE2021
Guest Editor MDPI Applied Sciences Special Issue "Big Data Delivery, Management, and Analysis over IoT"
https://www.mdpi.com/journal/applsci/special_issues/K008MFX53L#editors
Dept. of Applied Informatics
University of Macedonia
Thessaloniki, Greece
Email: kpsannis@uom.edu.gr
Tel: +30 2310 891 737
Author Response File: Author Response.pdf
Reviewer 2 Report
Comments and Suggestions for AuthorsThe paper proposes an application to help visually impaired users perceive image textures with haptic devices, supported by a cloud-based IoT infrastructure. The experimental results provide a starting point for broader applications in the field of assistive technologies. However, the study reveals limitations that the authors will need to address by following the recommendations and observations described below.
1. Could the authors integrate the signal and real-time monitoring of physical status to improve the tactile response system under variable user conditions? Could the authors integrate the signal and real-time monitoring of the physical state to improve the tactile response system under variable user conditions? Recent studies have monitored the variations in SAR and temperature in the interaction of human tissues in indoor environments through smart electronic devices. Integrating Section 3 with these signal acquisition studies could dynamically compensate for user variations and environmental changes.
2. In the paper, the authors did not use soft computing approaches to classify more complex surface features or ambiguous user input. Why? The incorporation of uncertainty-based models could strengthen the adaptive decision-making process in tactile perception, especially in the future development of algorithms.
3. I suggest integrating Section 4.2 with the study doi: 10.1109/TIM.2025.3573363 to improve the classification of bump map patterns and increase accuracy in texture differentiation. This citation supports the feasibility of applying an AI-based spatiotemporal analysis to improve depth perception, particularly relevant to the enhancement of algorithms.
4. How does the proposed model fit the different physical profiles of blind people, considering differences in sensitivity, hand size or interaction style?
5. Can current image coding be used with photon detection or, alternatively, with light-based feedback for more detailed depth or texture estimation?
6. Have the authors considered modeling the functional energy analysis to represent complex textures beyond the surface geometry?
7. Do the authors intend to integrate the acquisition of electromyographic signals (sEMG) to monitor the user's intent or the strength of feedback during tactile exploration? Recent studies have developed integrated systems for the acquisition, processing, and analysis of sEMG signals using AI techniques. Real-time biofeedback could enhance interactivity and allow for adaptive modulation of tactile force or feedback frequency.
8. Is the proposed model extendable to wearable or home tactile assistive systems that include integrated feedback loops?
9. Could the authors evaluate the mechanical stress and fatigue induced by prolonged use of the haptic device using fuzzy divergence models or stress inference algorithms?
Comments on the Quality of English LanguageSeveral grammatical issues, ambiguous formulations, and informal expressions should be corrected to improve readability and scientific clarity. The manuscript would benefit from professional editing to ensure fluidity and precision in both technical and descriptive sections.
Author Response
Dear reviewer,
We would like to thank you for your helpful comments on the paper. We appreciate the effort you put on, and the time you devoted to writing your suggestions. We believe, we have been able to address all your comments and correct any deficiencies you have pointed out.
- Could the authors integrate the signal and real-time monitoring of physical status to improve the tactile response system under variable user conditions? Could the authors integrate the signal and real-time monitoring of the physical state to improve the tactile response system under variable user conditions? Recent studies have monitored the variations in SAR and temperature in the interaction of human tissues in indoor environments through smart electronic devices. Integrating Section 3 with these signal acquisition studies could dynamically compensate for user variations and environmental changes.
Thank you for this advice. We appreciate your comment. To enhance the robustness of the tactile system under real-world usage, real-time monitoring of physiological signals (e.g., SAR, skin temperature) could be integrated. This allows adaptive control of force feedback based on user-specific and environmental variations.
- In the paper, the authors did not use soft computing approaches to classify more complex surface features or ambiguous user input. Why? The incorporation of uncertainty-based models could strengthen the adaptive decision-making process in tactile perception, especially in the future development of algorithms.
Thank you for your comments. We really appreciate it. Future versions could incorporate fuzzy logic or other soft computing approaches to resolve uncertainty in user perception and ambiguous tactile inputs.
- I suggest integrating Section 4.2 with the study doi: 10.1109/TIM.2025.3573363 to improve the classification of bump map patterns and increase accuracy in texture differentiation. This citation supports the feasibility of applying an AI-based spatiotemporal analysis to improve depth perception, particularly relevant to the enhancement of algorithms.
Thank you for this advice. We appreciate your comment. Integration with AI-based spatiotemporal analysis techniques (e.g., cited study DOI:10.1109/TIM.2025.3573363) would enable better classification of bump map patterns and depth cues.
- How does the proposed model fit the different physical profiles of blind people, considering differences in sensitivity, hand size or interaction style?
Thank you for this advice. We appreciate your comment. The system could be calibrated for individual users, adjusting tactile resolution based on hand size, touch sensitivity, and interaction style.
- Can current image coding be used with photon detection or, alternatively, with light-based feedback for more detailed depth or texture estimation?
Thank you for this advice. We appreciate your comment. The architecture can potentially be extended with photon-based image decoding or light-based depth sensing to enrich the detail and accuracy of surface texture rendering.
- Have the authors considered modeling the functional energy analysis to represent complex textures beyond the surface geometry?
Thank you for this advice. We appreciate your comment. Incorporating functional energy analysis would allow modeling of complex textured surfaces beyond geometry, using biomechanical interaction energy estimation.
- Do the authors intend to integrate the acquisition of electromyographic signals (sEMG) to monitor the user's intent or the strength of feedback during tactile exploration? Recent studies have developed integrated systems for the acquisition, processing, and analysis of sEMG signals using AI techniques. Real-time biofeedback could enhance interactivity and allow for adaptive modulation of tactile force or feedback frequency.
Thank you for this advice. We appreciate your comment. Surface electromyographic (sEMG) data can be collected and used for real-time adaptation of tactile feedback, reflecting user intent and interaction force.
- Is the proposed model extendable to wearable or home tactile assistive systems that include integrated feedback loops?
Thank you for this advice. We appreciate your comment. The system is modular and could be scaled for integration into wearable haptic assistive devices, offering tactile assistance in mobile or home-based applications.
- Could the authors evaluate the mechanical stress and fatigue induced by prolonged use of the haptic device using fuzzy divergence models or stress inference algorithms?
Thank you for this advice. We appreciate your comment. Monitoring device fatigue using fuzzy divergence or mechanical stress inference could prevent long-term damage and user fatigue during extended use.
The whole corrections or additions we have made in the paper we noticed with blue color.
Thank you very much for your attention and kind consideration.
Sincerely yours,
Dr. Andreas P. Plageras
Ph.D. University of Macedonia
Dept. of Applied Informatics
University of Macedonia
Thessaloniki, Greece
Email: a.plageras@uom.edu.gr
Guest Editor MDPI Applied Sciences Special Issue "Big Data Delivery, Management, and Analysis over IoT"
https://www.mdpi.com/journal/applsci/special_issues/K008MFX53L#editors
Dr. Christos L. Stergiou
Post-Doc. University of Macedonia
Dept. of Applied Informatics
University of Macedonia
Thessaloniki, Greece
Email: c.stergiou@uom.edu.gr
Guest Editor MDPI Applied Sciences Special Issue “Secure Integration of IoT & Digital Twins”
https://www.mdpi.com/journal/applsci/special_issues/1N3J910V3M
Guest Editor MDPI Applied Sciences Special Issue “Application of Data Analytics in Smart Healthcare”
https://www.mdpi.com/journal/applsci/special_issues/Application_Data_Analytics_Smart_Healthcare
Dr. Vasileios A. Memos
Ph.D. University of Macedonia
Dept. of Applied Informatics
University of Macedonia
Thessaloniki, Greece
Email: vmemos@uom.edu.gr
Prof. George Kokkonis
Department of Information and Electronic Engineering
International Hellenic University
Thessaloniki, Greece
Email: gkokkonis@gmail.com
Prof. Yutaka Ishibashi
Department of Business Management
Aichi Sangyo University
Japan
Email: ishibasi@asu.ac.jp
Prof. Kostas E. Psannis
Associate Editor IEEE Access
Associate Editor IEEE Com Letters
Guest Editor MDPI Applied Sciences Special Issue “Secure Integration of IoT & Digital Twins”
https://www.mdpi.com/journal/applsci/special_issues/1N3J910V3M
Guest Editor MDPI Applied Sciences Special Issue “Application of Data Analytics in Smart Healthcare”
https://www.mdpi.com/journal/applsci/special_issues/Application_Data_Analytics_Smart_Healthcare
Guest Editor MDPI Applied Sciences Special Issue “Advancements in QoS/QoE for Future Networks and Their Applications” https://www.mdpi.com/journal/applsci/special_issues/PPMUH0SF3O
Guest Editor MDPI Applied Sciences Special Issue “Application of Data Analytics in Smart Healthcare” https://www.mdpi.com/journal/applsci/special_issues/Application_Data_Analytics_Smart_Healthcare
Guest Editor MDPI Telecom Special Issue “Papers from the 4th World Symposium on Communication Engineering (WSCE 2021)” https://www.mdpi.com/journal/telecom/special_issues/SI_WSCE2021
Guest Editor MDPI Applied Sciences Topical Collection “5G Networks: Optimization, Machine Learning and Blockchain Technologies II” https://www.mdpi.com/journal/applsci/sections/computing_artificial_intelligence
Guest Editor MDPI Telecom Special Issue “6G Wireless Communication Systems” https://www.mdpi.com/journal/telecom/special_issues/6g_wireless_communication
Guest Editor MDPI Sensors Special Issue “Compressive Sensing-Based IoT Applications” https://www.mdpi.com/journal/sensors/special_issues/Compressive_Sensing_IoT
Guest Editor MDPI Information Special Issue “ICCCI 2020&2021: Advances in Baseband Signal Processing, Circuit Designs, and Communications” https://www.mdpi.com/journal/information/special_issues/ICCCI_2020
Guest Editor MDPI Applied Sciences Special Issue “5G Networks: Optimization, Machine Learning And Blockchain Technologies” https://www.mdpi.com/journal/applsci/special_issues/5G_blockchain
Guest Editor MDPI Sensors Special Issue “6G Wireless Communication Systems” https://www.mdpi.com/journal/sensors/special_issues/6g_wireless_communication_systems’
Guest Editor MDPI Telecom Special Issue “Papers from the 4th World Symposium on Communication Engineering (WSCE 2021)” https://www.mdpi.com/journal/telecom/special_issues/SI_WSCE2021
Guest Editor MDPI Applied Sciences Special Issue "Big Data Delivery, Management, and Analysis over IoT"
https://www.mdpi.com/journal/applsci/special_issues/K008MFX53L#editors
Dept. of Applied Informatics
University of Macedonia
Thessaloniki, Greece
Email: kpsannis@uom.edu.gr
Tel: +30 2310 891 737
Author Response File: Author Response.pdf
Round 2
Reviewer 1 Report
Comments and Suggestions for AuthorsThe author carefully revised the manuscript and it is now ready for publication.
Reviewer 2 Report
Comments and Suggestions for AuthorsI thank the authors for their replies to the comments. I have no further comments to ask.