Search Results (60)

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

Inadequate force feedback and collision warnings in teleoperated surgical instruments elevate risks during intravascular cannulation. This study introduces an innovative master haptic interface that utilizes magnetorheological (MR) fluid to enhance surgeons’ operational perception during robot-assisted intervention surgery. The system delivers real-time haptic feedback to enhance surgical operational safety and automatically amplifies the feedback force when the contact force on the slave side surpasses the predefined threshold, enabling timely collision alerts. A series of preliminary experiments has been carried out to validate the efficacy of this particular type of haptic interface. The experimental results clearly indicate that the master haptic interface based on MR fluid and carefully designed can effectively enhance the operator’s haptic perception and provide collision alarms in a timely manner with haptic clues, improving the safety and operability of robot intravascular intervention. This research provides some insights into the functional improvements of safe and reliable robot-assisted catheter systems. Full article

Virtual reality (VR) welding simulators provide safe and cost-effective training environments, but precise torch tracking remains a key challenge. Current commercial systems are limited in accurate bead simulation and posture feedback due to tracking errors of 3–10 mm, while external motion capture systems offer high precision but suffer from high cost and installation complexity issues. Therefore, a new approach is needed that achieves high precision while maintaining cost efficiency. This paper proposes an IMU-SLAM fusion-based tracking algorithm. The method combines Inertial Measurement Unit (IMU) data with visual–inertial SLAM (Simultaneous Localization and Mapping) for sensor fusion and applies a drift correction technique utilizing the periodic weaving patterns of the welding torch. This achieves precision below 5 mm without requiring external equipment. Experimental results demonstrate an average 3.8 mm RMSE (Root Mean Square Error) across 15 datasets spanning three welding scenarios, showing a 1.8× accuracy improvement over commercial baselines. Results were validated against OptiTrack ground truth data. Latency was maintained below 100 ms to meet real-time haptic feedback requirements, ensuring responsive interaction during training sessions. The proposed approach is a software solution using only standard VR hardware, eliminating the need for expensive external tracking equipment installation. User studies confirmed significant improvements in tracking quality perception from 6.8 to 8.4/10 and bead simulation realism from 7.1 to 8.7/10, demonstrating the practical effectiveness of the proposed method. Full article

Visual impairment (VI) affects over two billion people globally, with prevalence increasing due to preventable conditions. To address mobility and navigation challenges, this study presents a multi-platform, multi-sensor Electronic Travel Aid (ETA) integrating a combination of ultrasonic, LiDAR, and vision-based sensing across head-, torso-, and cane-mounted nodes. Grounded in orientation and mobility (OM) principles, the system delivers context-aware haptic and auditory feedback to enhance perception and independence for users with VI. The ETA employs a hardware–software co-design approach guided by proxemic theory, comprising three autonomous components—Glasses, Belt, and Cane nodes—each optimized for a distinct spatial zone while maintaining overlap for redundancy. Embedded ESP32 microcontrollers enable low-latency sensor fusion providing real-time multi-modal user feedback. Static and dynamic experiments using a custom-built motion rig evaluated detection accuracy and feedback latency under repeatable laboratory conditions. Results demonstrate millimetre-level accuracy and sub-30 ms proximity-to-feedback latency across all nodes. The Cane node’s dual LiDAR achieved a coefficient of variation at most 0.04%, while the Belt and Glasses nodes maintained mean detection errors below 1%. The validated tri-modal ETA architecture establishes a scalable, resilient framework for safe, real-time navigation—advancing sensory augmentation for individuals with VI. Full article

The conventional component assembly techniques employed in manufacturing industries typically necessitate laborious manual parameter calibration prior to system deployment, while existing vision-based control algorithms suffer from limited adaptability and inefficient learning capabilities. This paper presents a novel framework for automated large-diameter peg-in-hole assembly through convolutional network-based perception and reinforcement learning-driven control. Our methodology introduces three key innovations: (1) an enhanced deep segmentation architecture for precise identification and spatial localization of peg-end centroids, enabling accurate preliminary peg-in-hole; (2) a hybrid control strategy combining deep deterministic policy gradient (DDPG) reinforcement learning with classical control theory, augmented by real-time force feedback data acquisition; (3) systematic integration of visual–spatial information and haptic feedback for robust error compensation. Experimental validation on an industrial robotic platform demonstrates the method’s superior performance, achieving an Intersection over Union (IoU) score of 0.946 in peg segmentation tasks and maintaining insertion stability with maximum radial forces below 5.34 N during assembly operations. The proposed approach significantly reduces manual intervention requirements while exhibiting remarkable tolerance to positional deviations (±2.5 mm) and angular misalignments (±3°) commonly encountered in industrial assembly scenarios. 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

Systems presenting haptic information have emerged as an important technological advance in assisting individuals with sensory impairments or amputations, where the aim is to enhance sensory perception or provide sensory substitution through tactile feedback. These systems provide information on limb positioning, environmental interactions, and gait events, significantly improving mobility in amputees and their confidence about using such devices. This review summarizes recent progress in haptic feedback systems by providing a comparative analysis of different feedback approaches, evaluating their clinical effectiveness and usability, tactile feedback system design, and user experience, while identifying key gaps in the literature. These insights can contribute to the advancement of more effective, user-centered haptic feedback systems tailored for lower limb prosthetics. The findings are aimed at guiding future research in designing adaptive, intuitive, and clinically viable feedback mechanisms, fostering the widespread implementation of haptic systems in both assistive and rehabilitative applications. Full article

With the maturity of haptic technology and complex systems, tactile interaction has gradually become realized through specific hardware and software configurations in the e-commerce and business industries. As an innovative form depending on haptic systems, tactile interactive advertising could help both advertisers and consumers enhance the haptic experience of products through technology-mediated virtual environments and provide tactile information for purchase decision making that relies on restoring the real sense of touch. On the basis of the value-based adoption model (VAM) and the need for touch (NFT) from a preference for haptic information in a system, we conduct quantitative research and construct a partial least squares structural equation model, which aims to study the influencing factors that characterize the user preference of tactile interactive advertisements empowered by haptic systems among Chinese consumers. A total of 509 valid questionnaires were collected through online and offline channels. The study revealed that the perceived enjoyment (PE) and telepresence (TEL) of tactile interactive advertisements as benefit factors positively influence the perceived value (PV) and that the perceived fee (PF) as a sacrifice factor negatively influences PV, which further impacts the attitude and intention to use (IU). In addition, the study verified that a higher NFT positively affected PE, PU, and PF and IU for the perception of tactile interactive advertising. Through this study, we aim to provide insights from a consumer perspective to enhance the advertising effect and user experience through tactile interaction in further e-commerce, which transforms how we interact with digital systems and virtual environments. Full article

Hand gestures are essential for interaction in augmented and virtual reality (AR/VR), allowing users to intuitively manipulate virtual objects and engage with human–machine interfaces (HMIs). Accurate gesture recognition is critical for effective task execution. However, users often encounter difficulties due to the lack of immediate and clear feedback from head-mounted displays (HMDs). Current tracking technologies cannot always guarantee reliable recognition, leaving users uncertain about whether their gestures have been successfully detected. To address this limitation, haptic feedback can play a key role by confirming gesture recognition and compensating for discrepancies between the visual perception of fingertip contact with virtual objects and the actual system recognition. The goal of this paper is to compare a simple vibrotactile ring with a full glove device and identify their possible improvements for a fundamental gesture like pinching and fine moving of objects using Microsoft HoloLens 2. Where the pinch action is considered an essential fine motor skill, augmented reality integrated with haptic feedback can be useful to notify the user of the recognition of the gestures and compensate for misaligned visual perception between the tracked fingertip with respect to virtual objects to determine better performance in terms of spatial precision. In our experiments, the participants’ median distance error using bare hands over all axes was 10.3 mm (interquartile range [IQR] = 13.1 mm) in a median time of 10.0 s (IQR = 4.0 s). While both haptic devices demonstrated improvement in participants precision with respect to the bare-hands case, participants achieved with the full glove median errors of 2.4 mm (IQR = 5.2) in a median time of 8.0 s (IQR = 6.0 s), and with the haptic rings they achieved even better performance with median errors of 2.0 mm (IQR = 2.0 mm) in an even better median time of only 6.0 s (IQR= 5.0 s). Our outcomes suggest that simple devices like the described haptic rings can be better than glove-like devices, offering better performance in terms of accuracy, execution time, and wearability. The haptic glove probably compromises hand and finger tracking with the Microsoft HoloLens 2. Full article

This study presents a novel investigation into immersive teleoperation systems using collaborative, device-agnostic interfaces for advancing smart haptics in industrial assistive applications. The research focuses on evaluating the quality of experience (QoE) of users interacting with a teleoperation system comprising a local robotic arm, a robot gripper, and heterogeneous remote tracking and haptic feedback devices. By employing a modular device-agnostic framework, the system supports flexible configurations, including one-user-one-equipment (1U-1E), one-user-multiple-equipment (1U-ME), and multiple-users-multiple-equipment (MU-ME) scenarios. The experimental set-up involves participants manipulating predefined objects and placing them into designated baskets by following specified 3D trajectories. Performance is measured using objective QoE metrics, including temporal efficiency (time required to complete the task) and spatial accuracy (trajectory similarity to the predefined path). In addition, subjective QoE metrics are assessed through detailed surveys, capturing user perceptions of presence, engagement, control, sensory integration, and cognitive load. To ensure flexibility and scalability, the system integrates various haptic configurations, including (1) a Touch kinaesthetic device for precision tracking and grounded haptic feedback, (2) a DualSense tactile joystick as both a tracker and mobile haptic device, (3) a bHaptics DK2 vibrotactile glove with a camera tracker, and (4) a SenseGlove Nova force-feedback glove with VIVE trackers. The modular approach enables comparative analysis of how different device configurations influence user performance and experience. The results indicate that the objective QoE metrics varied significantly across device configurations, with the Touch and SenseGlove Nova set-ups providing the highest trajectory similarity and temporal efficiency. Subjective assessments revealed a strong correlation between presence and sensory integration, with users reporting higher engagement and control in scenarios utilizing force feedback mechanisms. Cognitive load varied across the set-ups, with more complex configurations (e.g., 1U-ME) requiring longer adaptation periods. This study contributes to the field by demonstrating the feasibility of a device-agnostic teleoperation framework for immersive industrial applications. It underscores the critical interplay between objective task performance and subjective user experience, providing actionable insights into the design of next-generation teleoperation systems. Full article

This paper presents an intelligent navigation wearable device for visually impaired individuals. The system aims to improve their independent travel capabilities and reduce the negative emotional impacts associated with visible disability indicators in travel tools. It employs an RGB-D camera and an inertial measurement unit (IMU) sensor to facilitate real-time obstacle detection and recognition via advanced point cloud processing and YOLO-based target recognition techniques. An integrated intelligent interaction module identifies the core obstacle from the detected obstacles and translates this information into multidimensional auxiliary guidance. Users receive haptic feedback to navigate obstacles, indicating directional turns and distances, while auditory prompts convey the identity and distance of obstacles, enhancing spatial awareness. The intuitive vibrational guidance significantly enhances safety during obstacle avoidance, and the voice instructions promote a better understanding of the surrounding environment. The device adopts an arm-mounted design, departing from the traditional cane structure that reinforces disability labeling and social stigma. This lightweight mechanical design prioritizes user comfort and mobility, making it more user-friendly than traditional stick-type aids. Experimental results demonstrate that this system outperforms traditional white canes and ultrasonic devices in reducing collision rates, particularly for mid-air obstacles, thereby significantly improving safety in dynamic environments. Furthermore, the system’s ability to vocalize obstacle identities and distances in advance enhances spatial perception and interaction with the environment. By eliminating the cane structure, this innovative wearable design effectively minimizes social stigma, empowering visually impaired individuals to travel independently with increased confidence, ultimately contributing to an improved quality of life. Full article

Road safety for vulnerable road users, particularly cyclists, remains a critical global issue. This study explores the potential of multimodal visual and haptic interaction technologies to improve cyclists’ perception of and responsiveness to their surroundings. Through a systematic evaluation of various visual displays and Haptic Feedback mechanisms, this research aims to identify effective strategies for recognizing and localizing potential traffic hazards. Study 1 examines the design and effectiveness of Visual Feedback, focusing on factors such as feedback type, traffic scenarios, and target locations. Study 2 investigates the integration of Haptic Feedback through wearable vests to enhance cyclists’ awareness of peripheral vehicular activities. By conducting experiments in realistic traffic conditions, this research seeks to develop safety systems that are intuitive, cognitively efficient, and tailored to the needs of diverse user groups. This work advances multimodal interaction design for road safety and aims to contribute to a global reduction in traffic incidents involving vulnerable road users. The findings offer empirical insights for designing effective assistance systems for cyclists and other non-motorized vehicle users, thereby ensuring their safety within complex traffic environments. Full article

Thermal technologies that effectively deliver thermal stimulation through skin-integrated systems and enable temperature perception via the activation of cutaneous thermoreceptors are key to enhancing immersive experiences in virtual and augmented reality (VR/AR) through multisensory engagement. However, recent advancements and commercial adoption have predominantly focused on haptic rather than thermal technology. This review provides an overview of recent advancements in wearable thermal devices (WTDs) designed to reconstruct artificial thermal sensations for VR/AR applications. It examines key thermal stimulation parameters, including stimulation area, magnitude, and duration, with a focus on thermal perception mechanisms and thermoreceptor distribution in the skin. Input power requirements for surpassing thermal perception thresholds are discussed based on analytical modeling. Material choices for WTDs, including metal nanowires, carbon nanotubes, liquid metals, thermoelectric devices, and passive cooling elements, are introduced. The functionalities, device designs, operation modes, fabrication processes, and electrical and mechanical properties of various WTDs are analyzed. Representative applications illustrate how flexible, thin WTDs enable immersive VR/AR experiences through spatiotemporal, programmable stimulation. A concluding section summarizes key challenges and future opportunities in advancing skin–integrated VR/AR systems. Full article

Incomplete communication networks (e.g., time delay and packet loss/switching) in haptic interaction and remote teleoperation systems can degrade both user performance and system stability. In this study, we hypothesized that human operator performance would decrease monotonically as network imperfections worsened. To test this hypothesis, we conducted two psychophysical experiments measuring the just-noticeable difference (JND), point of subjective equality (PSE), and perception time under varying conditions of packet separation time and packet loss. Our findings show that increasing packet separation time significantly elevated both JND and PSE, indicating a poorer discrimination ability and a systematic bias toward perceiving the environment as stiffer. By contrast, packet loss rates of up to 75% had no significant impact on perceptual performance, suggesting that, at sufficiently high sampling rates, human operators can compensate for substantial data loss. Overall, the results underscore that packet separation time, rather than packet loss, is the dominant factor affecting perceptual performance in haptic teleoperation. Full article

Background/Objectives: Robotic systems offer enhanced precision, dexterity, and visualization, which are essential in addressing the complex nature of plastic surgery procedures. Despite widespread adoption in other surgical specialties, such as urology and gynecology, their application in plastic surgery remains underexplored. This review examines the use of robotic systems in plastic and reconstructive surgery with a focus on clinical outcomes. Methods: A literature search was conducted using PubMed, Embase, Scopus, and Web of Science. Search terms included (“robotic surgery” OR “surgical robots”) AND (“plastic surgery” OR “reconstructive surgery”). Studies on clinical outcomes and biomimetic innovations published between 1980 and 2024 were included, while non-English, cadaver-based, and animal studies were excluded. Data were systematically extracted using Covidence and analyzed. Results: Twenty-nine studies were identified that evaluated the clinical outcomes of robotics in areas including breast reconstruction, microsurgery, and craniofacial procedures. Robotic systems like the Da Vinci and Symani platforms offer motion scaling, tremor elimination, and enhanced depth perception. In nipple-sparing mastectomies, they reduced skin necrosis rates from 8% to 2%, while in DIEP flap reconstruction, they enabled smaller fascial incisions (2.67 ± 1.13 cm vs. 8.14 ± 1.69 cm) and faster recovery with fewer complications. In microsurgery, they achieved 100% patency for vessels under 0.3 mm and a 25.2% limb volume reduction in lymphedema patients in 3 months. Conclusions: Robotic systems show significant promise, particularly in procedures such as nipple-sparing mastectomies, and have the potential to overcome challenges including surgeon fatigue. However, challenges such as longer operating times, high costs, and limited haptic feedback remain barriers to their adoption. Full article