Search Results (313)

Intelligent vehicle networks powered by machine learning, AI and blockchain are transforming various sectors beyond transportation. In this context, being able to remote drive a vehicle is key for enhancing autonomous driving systems. After deploying end-to-end teleoperated driving systems under 5G networks, the need to address complex challenges in other critical areas arises. These challenges belong to different technologies that need to be integrated in this particular system: video transmission and visualization technologies, artificial intelligence techniques, and network optimization features, incorporating haptic devices and critical data security. This article explores how these technologies can enhance the teleoperated driving activity experiences already executed in real-life environments by analyzing the quality of the video which is transmitted over the network, exploring its correlation with the current state-of-the-art AI object detection algorithms, analyzing the extended reality and digital twin paradigms, obtaining the maximum possible performance of forthcoming 6G networks and proposing decentralized security schema for ensuring the privacy and safety of the end-users of teleoperated driving infrastructures. An integrated set of conclusions and recommendations will be given to outline the future teleoperated driving systems design in the forthcoming years. Full article

Haptic feedback is important for narrative virtual reality (VR), yet authoring remains costly and difficult to scale due to device-specific tuning, placement constraints, and the need for semantically congruent timing. We systematically reviewed user studies on haptics in narrative VR to establish an empirical baseline and identify gaps for AI-powered procedural haptics. Following PRISMA 2020, we searched IEEE Xplore, ACM Digital Library, Scopus, Web of Science, PubMed, and PsycINFO (English; human participants; haptics synchronized to narrative events) and performed backward/forward citation chasing (final search: 31 July 2025). We also conducted a parallel scoping scan of grey literature (arXiv and CHI/SIGGRAPH workshops/demos), finalized on 7 September 2025; these records are summarized separately and were not included in the evidence synthesis. Of 493 records screened, 26 full texts were assessed, and 10 studies were included. Quantitatively, presence improved in 6/8 studies that measured it and immersion improved in 3/3; sample sizes ranged 8–108. Across varied modalities and placements, haptics improved presence and immersion and often enhanced affect; validated measures of narrative comprehension were rare. None of the included studies evaluated AI-generated procedural haptics in user studies. We conclude by proposing a structured, three-phase research roadmap designed to bridge this critical gap, moving the field from theoretical promise to the empirical validation of intelligent systems capable of making rich, adaptive, and scalable haptic narratives a reality. Full article

Smart assistive technologies such as sensor-based footwear and walking aids offer promising opportunities for gait rehabilitation through real-time feedback and patient-centered monitoring. While biofeedback applications show great potential, current research rarely explores integrated closed-loop systems with device- and modality-specific feedback. In this work, we present a modular sensor-based system combining a smart foot orthosis and an instrumented forearm crutch to deliver real-time vibrotactile biofeedback. The system integrates plantar pressure and motion sensing, vibrotactile feedback, and wireless communication via a smartphone application. We conducted a user study with eight participants to validate the system’s feasibility for mobile gait detection and app usability, and to evaluate different vibrotactile feedback types across the orthosis and forearm crutch. The results indicate that pattern-based vibrotactile feedback was rated as more useful and suitable for regular use than simple vibration alerts. Moreover, participants reported clear perceptual differences between feedback delivered via the orthosis and the forearm crutch, indicating device-dependent feedback perception. The findings highlight the relevance of feedback strategy design beyond hardware implementation and inform the development of user-centered haptic biofeedback systems. Full article

Freezing of gait (FoG) is a common motor symptom in advanced Parkinson’s disease, leading to falls, disability, and reduced quality of life. Although cueing systems using visual or auditory stimuli can help patients resume walking, existing solutions are often expensive, uncomfortable, and conspicuous. ParCuR (Parkinson Cueing and Rehabilitation) is a compact, ankle-worn wearable integrating an inertial sensor, haptic stimulator, and AI-based software. It was developed to detect FoG episodes in real time and provides automatic sensory cues to assist patients with Parkinson’s Disease (PwP). A classifier was trained for FoG detection using the DAPHNet dataset, comparing patient-specific and patient-independent models. While a small-scale trial with PwP assessed usability and reliability. ParCuR is watch-sized (35 × 41 mm), discreet, and comfortable for daily use. The online detection algorithm triggers stimulation within 0.7 s of episode onset and achieves 94.9% sensitivity and 91.3% specificity using only 14 frequency-based features. Preliminary trials confirmed device feasibility and guided design refinements. This low-cost, wearable solution supports personalized, real-time FoG detection and responsive cueing, improving patient mobility while minimizing discomfort and continuous stimulation habituation. Full article

(1) Background: Most robotic MIS platforms lack native haptic feedback, leaving surgeons to infer tissue loads from vision alone—an especially risky limitation in esophageal procedures. (2) Methods: We develop a sensorless, image-only force-estimation pipeline that maps endoscopic video to tool–tissue forces using a lightweight EfficientNetV2B0 CNN. The model is trained on 9691 labeled frames from in vitro esophageal experiments and validated against an FT300 load cell. For intraoperative feasibility, the system is deployed as a plug-in on PARA-SILSROB, consuming the existing laparoscope feed and driving a commercial haptic device. The runtime processes every 10th frame of a 60 FPS stream (≈6 Hz updates) with ~15–20 ms per-prediction latency. (3) Results: On held-out tests, the model achieves MAE = 0.017 N and MSE = 0.0004 N², outperforming a recurrent CNN baseline while maintaining real-time performance on commodity hardware. Integrated evaluations confirm stable operation at the deployed update rate and low latency compatible with closed-loop haptics. (4) Conclusions: By avoiding distal force sensors and preserving sterile workflow, the approach is readily translatable and retrofit-friendly for current robotic platforms. The results support the practical feasibility of real-time, sensorless force feedback for robotic esophagectomy and related MIS tasks, with potential to reduce tissue trauma and enhance operative safety. Full article

In this paper, we present a mechatronic platform that must be used for the handling of thermally processed samples using laser equipment, after which it is cooled at low temperatures. In addition to the laser and cryogenic equipment, the mechatronic platform includes one robotic arm (with a new modular structure that allows it to adapt to different working places) for sample transfer between storage areas, a controlling system for the robotic arm based on a new haptic device with physical feedback, a laser system, a cryogenic system, and an optical thermal processing measurement system. A new VR application enables remote control of a robotic arm, ensuring user safety using a haptic device based on the VR model. We exemplified the process of manufacturing the parts for the robotic arm and glove using a 3D printing method. Full article

This article proposes a distributed formation control strategy for mobile robots (using TurtleBot3 Burger platforms) based on teleoperation using artificial forces and mechanical impedance modeling. The proposed control law is structured in cascade, consisting of an external loop responsible for maintaining the formation and an internal loop dedicated to obstacle avoidance. Bilateral teleoperation is enabled by integrating the Novint Falcon haptic device, which allows the human operator to issue velocity commands to the formation and receive force feedback based on the robots’ physical interactions with congested environments. This strategy improves remote perception of the environment and promotes safe and collaborative navigation, validated through experiments in real-world environments. Full article

Traditional acupuncture training often lacks consistent, objective feedback, while current extended reality (XR) solutions rarely include quantitative assessment. This study developed and evaluated a feedback-enabled mixed reality (MR) acupuncture simulator to improve skill acquisition through depth-responsive guidance. The system, used on Microsoft HoloLens 2, combines a MetaHuman-based virtual patient with expert-designed acupoint geometries. It provides depth-dependent vibrotactile cues via a wearable haptic device and calculates a composite score from normalized metrics, including insertion depth, angular deviation, tip-to-center distance, and task duration. Ten participants (eight novices and two experts) performed needle tasks at LI4, LI11, and TE3 across two sessions. Mean depth error decreased from 6.41 mm to 3.58 mm, and task time from 9.29 s to 6.83 s. At LI11, beginners improved in achieved depth (16.24 ± 1.88 mm to 19.74 ± 1.23 mm), reduced angular deviation (27.83° to 15.34°), and shortened completion time (38.77 s to 13.28 s). Experts outperformed novices (69.25 ± 21.64 vs. 56.26 ± 23.37), confirming construct validity. Usability evaluation showed a mean overall score of 4.46 ± 0.51 and excellent reliability (McDonald’s ω = 0.93). These results demonstrate that expert-informed scoring and depth-responsive haptic feedback substantially enhance accuracy, efficiency, and learning confidence, validating the system’s technical robustness and educational readiness for clinical acupuncture training. Full article

Minimally Invasive Surgery is often limited by the lack of tactile feedback. Indeed, surgeons have traditionally relied heavily on tactile feedback to estimate tissue stiffness - a critical factor in both diagnostics and treatment. With this in mind we present in this paper a flexible sensor foil, based on polymer optical waveguide. This sensor has been applied for real-time contact force measurement, material stiffness differentiation and surface texture reconstruction. Interrogated by a commercially available optoelectronic device, the sensor foil offers precise and reproducible feedback of contact forces up to 5 N, with a minimal detectable limit of 0.1 N. It also demonstrates distinct optical attenuation responses when indenting silicone samples of varying stiffnesses under controlled displacement. When integrated onto a 3D-printed module resembling an endoscopic camera and manipulated by a robotic arm, the sensor successfully generated spatial stiffness mapsof a phantom. Moreover, by sliding over structures with varying surface textures, the sensor foil was able to reconstruct surface profiles based on the light attenuation responses. The results demonstrate that the presented sensor foil possesses great potential for surgical applications by providing additional haptic information to surgeons. Full article

This paper presents the development and evaluation of a method for rendering realistic haptic textures in virtual environments, with the goal of enhancing immersion and surface recognizability. By using Blender for the creation of geometric models, Unity for real-time interaction, and integration with the Touch haptic device from 3D Systems, virtual surfaces were developed with parameterizable characteristics of friction, stiffness, and relief, simulating different physical textures. The methodology was assessed through two experimental phases involving a total of 47 participants, examining both tactile recognition accuracy and the perceived realism of the textures. Results demonstrated improved overall performance and reduced variability between textures, suggesting that the approach can provide convincing haptic experiences. The proposed method has potential applications across a wide range of domains, including education, medical simulation, cartography, e-commerce, entertainment, and artistic creation. The main contribution of this research lies in the introduction of a simple yet effective methodology for haptic texture rendering, which is based on the flexible adjustment of key parameters and iterative optimization through human feedback. Full article

This paper presents the design, development, and preliminary validation of a haptic virtual reality simulator for Shielded Metal Arc Welding (SMAW) at the Pontificia Universidad Católica de Valparaíso, Chile, aimed at enhancing psychomotor training for mechanical engineering students in line with Industry 4.0 demands. The system integrates Unity 3D, a commercial haptic device, and a custom 3D-printed electrode holder replicating the welding booth, enabling interaction through visual, auditory, and tactile feedback. Thirty students with minimal welding experience and seven experts participated in usability and realism assessments. The results showed that 80% of students perceived motor skill improvement, 60% rated realism as adequate, and 90% preferred hybrid training (simulator + workshop). The prototype was practically implemented at the mechanical engineering school, requiring only a mid-range workstation, the Touch haptic device, and the developed software, demonstrating feasibility in real academic settings. The findings indicate potential to build confidence, support motor coordination, and provide a safe, resource-efficient training environment, while experts emphasized the need for automated feedback and improved haptic fidelity. The modular architecture allows scalability, extension to other welding processes, and adaptation for inclusive education. This prototype demonstrates how locally developed immersive technologies can modernize technical education while promoting sustainability, accessibility, and skill readiness. Full article

Three-dimensional virtual reality (VR) games incorporating haptic feedback were developed to support upper-limb rehabilitation in individuals with Parkinson’s disease (PD). Three interactive games: fishing, archery, and mining, were designed to simulate resistance, tension, and vibration using a haptic device, thereby encouraging motor tasks such as pulling, lifting, and lateral maneuvers. Both individuals with PD and healthy participants completed structured sessions, with performance measured through task completion time, scores, and movement trajectories, alongside perceived workload via the NASA-TLX. Results showed that higher haptic resistance levels reduced tremor amplitude by up to 10.55% in participants with PD and improved task completion efficiency by an average of 12.4% across games. These findings demonstrate the potential of personalized haptic feedback to stabilize motor control and enhance performance in VR-based rehabilitation. Importantly, individuals with PD demonstrated improved motor control under moderate haptic resistance, indicating the potential of adjustable haptic feedback for tailoring rehabilitation. These findings underscore the value of VR-haptic games as engaging and adaptable rehabilitation tools, supporting personalized interventions for individuals with PD. Full article

Vibrotactile stimulation has applications in a variety of fields, including medicine, virtual reality, and human–computer interaction. Eccentric Rotating Mass (ERM) vibrating motors are widely used in wearable haptic devices owing to their small size, low cost, and low-energy features. User experience with vibrotactile stimulation is an important factor in ergonomic design for these applications. The effects of ERM motor vibrations on upper-extremity sensation and perception, which are important in the design of better wearable haptic devices, have not been thoroughly studied previously. Our study focuses on the relationship between user sensation and perception and on different vibration parameters, including frequency, location, and number of motors. We conducted experiments with vibrotactile stimulation on 15 healthy participants while the subjects were both at rest and in motion to capture different use cases of haptic devices. Eight motors were placed on a consistent set of muscles in the subjects’ upper extremities, and one motor was placed on their index fingers. We found a significant correlation between voltage and sensation intensity (r = 0.39). This finding is important in the design and safety of customized haptic devices. However, we did not find a significant aggregate-level correlation with the perceived pleasantness of the simulation. The sensation intensity varied based on the location of the vibration on the upper extremities (with the lowest intensities on the triceps brachii and brachialis) and slightly decreased (5.9 ± 2.9%) when the participants performed reaching movements. When a single motor was vibrating, the participants’ accuracy in identifying the motor without visual feedback increased as the voltage increased, reaching up to 81.4 ± 14.2%. When we stimulated three muscles simultaneously, we found that most participants were able to identify only two out of three vibrating motors (41.7 ± 32.3%). Our findings can help identify stimulation parameters for the ergonomic design of haptic devices. Full article

This research presents a preliminary proposal for a rehabilitation exercise aimed at patients with muscle weakness in the distal upper limb. A virtual environment was developed, where the user engages in a rehabilitation activity focused on rehabilitating the pinch grip. The goal is to strengthen the patient’s grasp and reduce muscle weakness. The virtual environment was designed as a video game in order to generate greater interest and encourage patients to adhere to their rehabilitation activities. This virtual game utilizes the haptic device Novint Falcon for the interaction with the environment. This preliminary work implements an impedance control with neural compensation; the control strategy produces signals to adapt the force exerted by the patient, with the goal that the device can give a force of the same magnitude but in the opposite direction. Consequently, regardless of the patient’s initial strength, the device will always deliver an assistive force to guide the patient along a desired trajectory. Initial experimental results with the proposed virtual-haptic rehabilitation system are presented, indicating the feasibility of the approach; however, further studies are required to validate its clinical effectiveness. Full article

Motion perception is a fundamental function of the tactile system, essential for object exploration and manipulation. While human studies have largely focused on discrete or pulsed stimuli with staggered onsets, many natural tactile signals are continuous and rhythmically patterned. Here, we investigate whether phase differences between “simultaneously” presented, “continuous” amplitude-modulated vibrations can induce the perception of motion across fingertips. Participants reliably perceived motion direction at modulation frequencies up to 1 Hz, with discrimination performance systematically dependent on the phase lag between vibrations. Critically, trial-level confidence reports revealed the lowest certainty for anti-phase (180°) conditions, consistent with stimulus ambiguity as predicted by the mathematical framework. I propose two candidate computational mechanisms for tactile motion processing. The first is a conventional cross-correlation computation over the envelopes; the second is a probabilistic model based on the uncertain detection of temporal reference points (e.g., envelope peaks) within threshold-defined windows. This model, despite having only a single parameter (uncertainty width determined by an amplitude discrimination threshold), accounts for both the non-linear shape and asymmetries of observed psychometric functions. These results demonstrate that the human tactile system can extract directional information from distributed phase-coded signals in the absence of spatial displacement, revealing a motion perception mechanism that parallels arthropod systems but potentially arises from distinct perceptual constraints. The findings underscore the feasibility of sparse, phase-coded stimulation as a lightweight and reproducible method for conveying motion cues in wearable, motion-capable haptic devices. Full article