Wearable Haptic Device Presenting Sensations of Fingertips to the Forearm.

Several existing haptic displays used in virtual reality (VR) environments present haptic sensations generated by the fingertips in the VR to actual fingertips. However, these devices face certain challenges, such as physical interference between the devices, particularly when multi-degree-of-freedom (DOF) force needs to be presented to multiple fingers. To address this issue, we propose a haptic presentation method that transmits haptic sensations generated by the fingertips in the VR, including the direction of the force, to the forearm. We previously　proposed a method to present both magnitude and direction of the force applied to the index finger using a five-bar linkage mechanism, which transmits the force sensation with two DOF to the forearm. In this study, the forces in the downward and left-right directions were obtained from the kinematics of a five-bar linkage mechanism for accurate force presentation. Additionally, we conducted a user study evaluating user grasping an object in the VR and performing task. The results verified the haptic sensation of the force transmitted by the proposed prototype to the user's forearm provides a sufficient comfort level. Furthermore, the task execution time and comfort level were comparable to those of a vibrotactile presentation presented directly to the fingertips.

Brain networks underlying the processing of sound symbolism related to softness perception.

Unlike the assumption of modern linguistics, there is non-arbitrary association between sound and meaning in sound symbolic words. Neuroimaging studies have suggested the unique contribution of the superior temporal sulcus to the processing of sound symbolism. However, because these findings are limited to the mapping between sound symbolism and visually presented objects, the processing of sound symbolic information may also involve the sensory-modality dependent mechanisms. Here, we conducted a functional magnetic resonance imaging experiment to test whether the brain regions engaged in the tactile processing of object properties are also involved in mapping sound symbolic information with tactually perceived object properties. Thirty-two healthy subjects conducted a matching task in which they judged the congruency between softness perceived by touch and softness associated with sound symbolic words. Congruency effect was observed in the orbitofrontal cortex, inferior frontal gyrus, insula, medial superior frontal gyrus, cingulate gyrus, and cerebellum. This effect in the insula and medial superior frontal gyri was overlapped with softness-related activity that was separately measured in the same subjects in the tactile experiment. These results indicate that the insula and medial superior frontal gyrus play a role in processing sound symbolic information and relating it to the tactile softness information.

Characterization of an Electrode-Type Tactile Display Using Electrical and Electrostatic Friction Stimuli.

Unlike tactile displays that use mechanical actuators, electrode-type tactile displays can be easily integrated and miniaturized because they consist of electrodes and insulators. Electrical tactile displays only require electrodes and use an electric current to stimulate vibration or pressure. Likewise, electrostatic friction tactile displays also only require electrodes and an insulator and can induce changes in friction between the display and a fingerpad. We have developed a tactile display that integrates electrical and electrostatic friction stimulation owing to their affinity to microfabrication techniques. This tactile display can provide both pressure and friction at the same time. In this study, we presented an elongated bar shape via the tactile display to experimental participants. The experimental results showed that a tactile display employing multiple stimuli as opposed to a single stimulus can induce the perception of larger shapes.

The Hanger Reflex: An Inexpensive and Non-invasive Therapeutic Modality for Dystonia and Neurological Disorders.

The hanger reflex is a phenomenon characterized by the involuntary rotation of the head when a wire hanger is worn around the head such that a force is applied to the frontal temporal area by the longer side of the hanger. The application of a shearing force on the skin is thought to be the cause of this phenomenon. Attempts have been made to treat cervical dystonia using equipment designed to induce the hanger reflex. This reflex may have implications in the treatment of headaches, cervical pain, and adhesive capsulitis. The hanger reflex is seen not only in the head region but is also in other parts of the body. Thus, it could be used in the treatment of systemic dystonias. The hanger reflex may help develop inexpensive and non-invasive treatment for dystonia or other neurological diseases and is expected to be the focus of research in the future.

Assessment of Stickiness with Pressure Distribution Sensor Using Offset Magnetic Force.

The quantification of stickiness experienced upon touching a sticky or adhesive substance has attracted intense research attention, particularly for application to haptics, virtual reality, and human-computer interactions. Here, we develop and evaluate a device that quantifies the feeling of stickiness experienced upon touching an adhesive substance. Keeping in mind that a typical pressure distribution sensor can only measure a pressing force, but not a tensile force, in our setup, we apply an offset pressure to a pressure distribution sensor and measure the tensile force generated by an adhesive substance as the difference from the offset pressure. We propose a method of using a magnetic force to generate the offset pressure and develop a measuring device using a magnet that attracts magnetic pin arrays and pin magnets; the feasibility of the method is verified with a first prototype. We develop a second prototype that overcomes the noise problems of the first, arising from the misalignment of the pins owing to the bending of the magnetic force lines at the sensor edges. We also obtain measurement results for actual samples and standard viscosity liquids. Our findings indicate the feasibility of our setup as a suitable device for measuring stickiness.

Pilot feasibility study of a semi-automated three-dimensional scoring system for cervical dystonia.

The objective of this study is to test the feasibility of a semi-automated scoring system for the Toronto Western Spasmodic Torticollis Scale (TWSTRS) severity scale in patients with cervical dystonia. The TWSTRS requires training and experience. We previously developed a system to measure neck angle by analyzing three-dimensional position, obtained using Kinect, a marker-less three-dimensional depth sensor. The system can track patients' faces and bodies, automatically analyze neck angles, and semi-automatically calculate the TWSTRS severity scale score. We compared the TWSTRS severity scale scores calculated by the system with the video-based scores calculated by a neurologist trained in movement disorders. A correlation coefficient analysis was then conducted. Absolute accuracy was measured using intra-class correlation (ICC) (3,1), with 95% limits of agreement. To analyze the subscales, Cohen's kappa coefficient (κ) was calculated. A p-value of < .05 was considered statistically significant. Thirty patients were enrolled. Their average age was 52.3±16.0 years, and the male to female ratio was 3:2. The average disease duration was 11.3±12.7 years. Total score measurements by the system were significantly correlated with those rated by the movement disorder-trained neurologist (r = .596, p < .05). There was a significant correlation (r = .655, p < .05) with regard to the automated part of the scale. An adequate ICC (3,1) of .562 was obtained for total severity score (p < .001, 95% confidence interval [CI]: .259-.765), while the equivalent score was .617 for the total automated part (p < .001, 95% CI .336-.798). Our three-dimensional motion capture system, which can measure head angles and semi-automatically calculate the TWSTRS severity scale score utilizing a single-depth camera, demonstrated adequate validity and reliability. This low-cost and portable system could be applied by general practitioners treating cervical dystonia to obtain objective measurements.

Fundamental Perceptual Characterization of an Integrated Tactile Display with Electrovibration and Electrical Stimuli.

Tactile displays have been widely studied for many decades. Although multiple tactile stimuli are more effective to improve the quality of the presented tactile sensation, most tactile displays provide a single tactile stimulus. An integrated tactile display with electrovibration and electrical stimuli is proposed herein. It is expected that vibrational friction, pressure and vibration can be presented at the same time through the tactile display. Also, these stimuli only require electrodes for stimulation. Therefore, the tactile display can be easily miniaturized and densely arrayed on a substrate. In this study, a tactile display is designed and fabricated using the micro-fabrication process. Furthermore, the display is evaluated. First, the relationship between a single stimulus and the perception is investigated. The electrovibration and electrical stimuli have a frequency dependence on perception. Second, whether the multiple stimuli with the electrovibration and electrical stimuli are perceivable by the subjects is also evaluated. The results indicate that the multiple tactile stimuli are perceivable by the subjects. Also, the possibility that the electrovibration and electrical stimuli affect each other is confirmed.

Brain networks underlying tactile softness perception: A functional magnetic resonance imaging study.

Humans are adept at perceiving physical properties of an object through touch. Tangible object properties can be categorized into two types: macro-spatial properties, including shape and orientation; and material properties, such as roughness, softness, and temperature. Previous neuroimaging studies have shown that roughness and temperature are extracted at nodes of a network, such as that involving the parietal operculum and insula, which is different from the network engaged in processing macro-spatial properties. However, it is unclear whether other perceptual dimensions pertaining to material properties engage the same regions. Here, we conducted a functional magnetic resonance imaging study to test whether the parietal operculum and insula were involved in extracting tactually-perceived softness magnitude. Fifty-six healthy right-handed participants estimated perceived softness magnitude using their right middle finger. We presented three stimuli that had the same shape but different compliances. The force applied to the finger was manipulated at two levels. Classical mass-univariate analysis showed that activity in the parietal operculum, insula, and medial prefrontal cortex was positively associated with perceived softness magnitude, regardless of the applied force. Softness-related activity was stronger in the ventral striatum in the high-force condition than in the low-force condition. The multivariate voxel pattern analysis showed higher accuracy than chance levels and control regions in the parietal operculum/insula, postcentral gyrus, posterior parietal lobule, and middle occipital gyrus. These results indicate that a distributed set of the brain regions, including the parietal operculum and insula, is involved in representing perceived softness.

Wearable Tactile Display Based on Thermal Expansion of Nichrome Wire.

A wearable tactile display needs to be compact and lightweight, and ideally should be able to present vibration, force, and temperature information to the hand. In many contexts spatially distributed tactile information is needed such as when identifying the shape of objects. In this paper, a multi-element tactile display is described based on the thermal expansion and contraction of nichrome wire. The device comprises elastic rods that are pulled by nichrome wires (30 µm in diameter). When an electrical current is applied to the wire, displacement of the elastic rod occurs with thermal elongation of the wire. The wire cools quickly and vibration results. The nichrome wire that is the basis of this display overcomes many of the material restrictions associated with shape memory alloys that have often been used for thermally driven tactile displays. Experiments that characterized the performance of the tactile display indicated that perceptible vibrations up to 320 Hz can be presented. Psychophysical studies revealed that both position and movement cues can be displayed effectively with the device. A miniaturized version of this display for wearable applications has been built and undergone preliminary evaluation.

Evaluation of Electrovibration Stimulation with a Narrow Electrode.

Recently, electrovibration tactile displays were studied and applied to several use cases by researchers. The high-resolution electrode for electrovibration stimulus will contribute to the presentation of a more realistic tactile sensation. However, the sizes of the electrodes that have been used thus far are of the millimeter-order. In this study, we evaluated whether a single narrow electrode was able to provide the electrovibration stimulus adequately. The widths of the prepared electrodes were 10, 20, 50, 100, 200, and 500 µm. We conducted a sensory experiment to characterize each electrode. The electrodes with widths of 50 µm or less were not durable or suitable for the applied signal, although the subjects perceived the stimulus. Therefore, we conducted the experiment without using these non-durable electrodes. The voltage waveform condition affected perception, and the subjects were not sensitive to the electrovibration stimulus at low frequencies. In addition, the stroke direction of the fingertip had a significant effect on perception under certain conditions. The results indicate that electrovibration stimulation requires an electrode with a width of only a few hundred micrometers for stimulation.

Pilot Study of a Device to Induce the Hanger Reflex in Patients with Cervical Dystonia.

The hanger reflex (HR) is an involuntary head rotation that occurs in response to a clothes hanger encircling the head and compressing the unilateral fronto-temporal area. Here, we developed an elliptical device to induce the HR and examined its utility for the treatment of cervical dystonia (CD). The study included 19 patients with rotational-type CD. The device was applied to each subject's head for at least 30 min/day for 3 months. Severity scores on part 1 of the Toronto Western Spasmodic Torticollis Rating Scale were evaluated at baseline and after the 3-month trial. Mean scores without and with the device were significantly different both at baseline (16.6 vs. 14.7, respectively; P < 0.05) and after the trial (14.9 vs. 13.6, respectively; P < 0.05). This preliminary trial suggests that our device can improve abnormal head rotation in patients with CD.

Comparative Evaluation of Tactile Sensation by Electrical and Mechanical Stimulation.

An electrotactile display is a tactile interface that provides tactile perception by passing electrical current through the surface of the skin. It is actively used instead of mechanical tactile displays for tactile feedback because of several advantages such as its small and thin size, light weight, and high responsiveness. However, the similarities and differences between these sensations is still not clear. This study directly compares the intensity sensation of electrotactile stimulation to that of mechanical stimulation, and investigates the characteristic sensation of anodic and cathodic stimulation. In the experiment, participants underwent a 30 pps electrotactile stimulus every one second to their middle finger, and were asked to match this intensity by adjusting the intensity of a mechanical tactile stimulus to an index finger. The results showed that anodic stimulation mainly produced vibration sensation, whereas cathodic sensation produced both vibration and pressure sensations. Relatively low pressure sensation was also observed for anodic stimulation but it remains low, regardless of the increasing of electrical intensity.

Vibration Feedback Latency Affects Material Perception During Rod Tapping Interactions.

We investigated the effect of vibration feedback latency on material perception during a tapping interaction using a rod device. When a user taps a surface, the perception of the material can be modulated by providing a decaying sinusoidal vibration at the moment of contact. To achieve this haptic material augmentation on a touchscreen, a system that can measure the approach velocity and provide vibration with low latency is required. To this end, we developed a touchscreen system that is capable of measuring the approach velocity and providing vibration feedback via a rod device with latency of 0.1 ms. Using this system, we experimentally measured the human detection threshold of the vibration feedback latency adopting a psychophysical approach. We further investigated the effect of latency on the perception of the material using a subjective questionnaire. Results show that the threshold was around 5.5 ms and the latency made the user feel that the surface is soft. In addition, users reported bouncing and denting sensations induced by the latency.

Effect of Dynamic Temperature Stimulus to Plantar Surface of the Foot in the Standing Position.

We have previously found that a vertical force or tactile sensation occurs when the temperature of a participant's skin changes rapidly. In this illusion, upward motion, pressure, or force sensation is elicited when stimulus temperature rises rapidly, whereas in the opposite case, downward motion or pulling sensation is elicited. In this paper, we applied this phenomenon to the sole (plantar surface of the foot) to present the sensation of ground slope. To investigate this, we conducted an experiment that measured the correlation between stimulation temperature and front-back direction position of the center of gravity. Participants stood on a thermal stimulator on Nintendo Wii Balance Board, and they remained standing during 30-s dynamic temperature stimulus. In result of analysis, it was suggested that dynamic thermal change in sole might influence standing position, and the effect pattern was anomalous in case of the participants who reported a swaying sensation without a haptic sensation. This behavior might be applied to the diagnosis of the presence of thermoesthesia of the patients who might have disease with absence of thermoesthesia.

Rate of Hanger Reflex Occurrence: Unexpected Head Rotation on Fronto-temporal Head Compression.

When the head is encircled with a wire clothes hanger and the unilateral fronto-temporal region is compressed, the head rotates unexpectedly. As the mechanism is unclear, however, we have temporarily named this phenomenon as the "hanger reflex." We previously reported a case wherein this phenomenon was applied to treat cervical dystonia. Because little is known about this phenomenon, we determined how often this phenomenon is observed in healthy subjects. Study participants were 120 healthy Japanese adults (60 men and 60 women) aged 19-65 years. A wire clothes hanger was applied to each subject's head. The longer side of the hanger was attached over the volunteer's fronto-temporal regions on both sides of the head in succession (i.e., two applications per volunteer). We evaluated whether the subjects felt the sensation of head rotation by using a questionnaire. The sensation of head rotation was observed in 95.8% of subjects. There were five non-responders (4.2%). In 85.4% of the trials, head rotation was observed in the direction that coincided with the side compressed by the hanger. There were no differences in responses between genders. The incident rate of the hanger reflex was remarkably high and most likely represents a prevalent phenomenon in humans. The mechanism underlying the reflex remains unknown. Further research should be performed to elucidate the underlying causes of the hanger reflex, which represents a potential treatment for cervical dystonia.

Tactile motion aftereffects produced by appropriate presentation for mechanoreceptors.

Tactile motion perception is one of the most important functions for realizing a delicate appreciation of the tactile world. To explore the neural dynamics of motion processing in the brain, the motion adaptation phenomenon can be a useful probe. Tactile motion aftereffects (MAE), however, have not been reported in a reproducible fashion, and the indistinctive outcomes of the previous studies can be ascribed to the non-optimal choice of adapting and testing stimuli. Considering the features of the stimuli used in the studies, the stimuli activated the different mechanoreceptors in the adapting and testing phase. Consequently, we tested tactile MAE using appropriate combinations of adapting and testing stimuli. We used three pins to generate sensation of apparent motion on the finger cushion. They were sequentially vibrated with the frequency of 30 Hz both in adapting and testing phases. It is expected that this procedure ensured stimulation for the same mechanoreceptor (Rapid-Adapting mechanoreceptor) in both the adaptation and test phases. Using this procedure, we found robust tactile MAEs in the various tactile motions such as the short-distance motion within the fingertip, the long-distance motion from the finger base to the fingertip, and the circular motion on the fingertip. Our development of a protocol that reliably produces tactile MAEs will provide a useful psychophysical probe into the neural mechanisms of tactile motion processing.

Development of anthropomorphic multi-D.O.F. master-slave arm for mutual telexistence.

We developed a robotic arm for a master-slave system to support "mutual telexistence," which realizes remote dexterous manipulation tasks and close physical communication with other people using gestures. In this paper, we describe the specifications of the experimental setup of the master-slave arm to demonstrate the feasibility of the mutual telexistence concept. We developed the master arm of a telexistence robot for interpersonal communication. The last degree of the 7-degree-of-freedom slave arm is resolved by placing a small orientation sensor on the operators arm. This master arm is made light and impedance control is applied in order to grant the operator as much freedom of movement as possible. For this development stage, we compared three control methods and confirmed that the impedance control method is the most appropriate to this system.