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Evaluating multi-channel vibrational feedback arrays in a digit discrimination task

Smith, Alexander; Ward-Cherrier, Benjamin; Etoundi, Appolinaire; Pearson, Martin J.


Alexander Smith

Benjamin Ward-Cherrier


In recent years manipulators and grippers have become more advanced., allowing for more nuanced interactions with the environment. In order to take advantage of the benefits that this can provide in teleoperation., methods for providing closed-loop tactile feedback to the operator must be developed. This paper presents the results from a series of experiments into the design space of vibrotactile feedback arrays for multi-fingered end-effectors., from a user-centred perspective. These experiments were conducted over two sessions., each with 11 healthy subjects. The first session investigated the general shape of the array by comparing three different morphologies., while the second session investigated the effects of tactor spacing., and of kinesthetic feedback on the learning process. The results from these studies indicate several key design choices in multi-channel vibrotactile arrays for teleoperation: The array must have features that are distinct and easy to reference., larger displacements between tactors is preferable with a 40mm separation outperforming 25mm by on average 10% (p=0.004)., a method to disambiguate multiple finger contact is necessary., and that the training process heavily impact the resultant performance with the device (p=0.016).

Presentation Conference Type Conference Paper (Published)
Conference Name 2022 International Symposium on Electrical, Electronics and Information Engineering (ISEEIE)
Start Date Feb 25, 2022
End Date Feb 27, 2022
Acceptance Date Feb 25, 2022
Online Publication Date Aug 18, 2022
Publication Date Jan 1, 2022
Deposit Date Sep 2, 2022
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Pages 202-207
Book Title 2022 International Symposium on Electrical, Electronics and Information Engineering (ISEEIE)
ISBN 9781665468749
Keywords Training, Performance evaluation, Shape, Contacts, Fingers, Tactile sensors, Morphology, closed loop systems, end effectors, feedback, force control, force feedback, grippers, haptic interfaces, perturbation techniques, tactile sensors, telerobotics, pros
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