Effects of Haptic Feedback on Precision Peg Insertion Tasks Under Different Visual and Communication Latency Conditions

This paper describes an experiment that studies the effect of basic haptic feedback in creating a sense of social interaction within a shared virtual environment (SVE). Although there have been a number of studies investigating the effect of haptic feedback on collaborative task performance, they do not address the effect it has in inducing social presence. The purpose of this experiment is to show that haptic feedback enhances the sense of social presence within a mediated environment. An experiment was carried out using a shared desktop based virtual environment where 20 remotely located couples who did not know one another had to solve a puzzle together. In 10 groups they had shared haptic communication through their hands, and in another group they did not. Hence the haptic feedback was not used for completing the task itself, but rather as a means of social interacting – communicating with the other participant. The results suggest that basic haptic feedback increases the sense of social presence within the shared VE.

Haptic technologies and applications have received enormous attention in the last decade. The incorporation of haptic modality into multimedia applications adds excitement and enjoyment to an application. It also adds a more natural feel to multimedia applications, that otherwise would be limited to vision and audition, by engaging as well the user's sense of touch, giving a more intrinsic feel essential for ambient intelligent applications. However, the improvement of an application's Quality of Experience (QoE) by the addition of haptic feedback is still not completely understood. The research presented in this paper focuses on the effect of haptic feedback and what it potentially adds to the experience of the user as opposed to the traditional visual and auditory feedback. In essence, it investigates certain issues regarding stylus-based haptic education applications and haptic-enhanced entertainment videos. To this end, we used two haptic applications: the haptic handwriting learning tool to experiment with force feedback haptic interaction and the tactile YouTube application for tactile haptic feedback. In both applications, our analysis shows that the addition of haptic feedback will increase the QoE in the absence of fatigue or discomfort for this category of applications. This implies that the incorporation of haptic modality (both force feedback as well as tactile feedback) has positively contributed to the overall QoE for the users.

EEG correlates of haptic feedback in a visuomotor tracking task

Assistive navigation systems for the blind commonly use speech to convey directions to their users. However, this is problematic for short range navigation systems that need to provide fine but diligent guidance in order to avoid obstacles. For this task, we have compared haptic and audio feedback systems under the NASA-TLX protocol to analyze the additional cognitive load that they place on users. Both systems are able to guide the users through a test obstacle course. However, for white cane users, auditory feedback results in a 22 times higher cognitive load than haptic feedback. This discrepancy in cognitive load was not found on blindfolded users, thus we argue against evaluating navigation systems solely with blindfolded users.

This paper presents a human-scale virtual environment (VE) with haptic feedback along with two experiments performed in the context of product design. The user interacts with a virtual mock-up using a large-scale bimanual string-based haptic interface called SPIDAR (Space Interface Device for Artificial Reality). An original self-calibration method is proposed. A vibro-tactile glove was developed and integrated to the SPIDAR to provide tactile cues to the operator. The purpose of the first experiment was: (1) to examine the effect of tactile feedback in a task involving reach-and-touch of different parts of a digital mock-up, and (2) to investigate the use of sensory substitution in such tasks. The second experiment aimed to investigate the effect of visual and auditory feedback in a car-light maintenance task. Results of the first experiment indicate that the users could easily and quickly access and finely touch the different parts of the digital mock-up when sensory feedback (either visual, auditory, or tactile) was present. Results of the of the second experiment show that visual and auditory feedbacks improve average placement accuracy by about 54 % and 60% respectively compared to the open loop case

Stand-alone virtual environments (VEs) using haptic devices have proved useful for assembly/disassembly simulation of mechanical components. Nowadays, collaborative haptic virtual environments (CHVEs) are also emerging. A new peer-to-peer collaborative haptic assembly simulator (CHAS) has been developed whereby two users can simultaneously carry out assembly tasks using haptic devices. Two major challenges have been addressed: virtual scene synchronization (consistency) and the provision of a reliable and effective haptic feedback. A consistency-maintenance scheme has been designed to solve the challenge of achieving consistency. Results show that consistency is guaranteed. Furthermore, a force-smoothing algorithm has been developed which is shown to improve the quality of force feedback under adverse network conditions. A range of laboratory experiments and several real trials between Labein (Spain) and Queen's University Belfast (Northern Ireland) have verified that CHAS can provide an adequate haptic interaction when both users perform remote assemblies (assembly of one user's object with an object grasped by the other user). Moreover, when collisions between grasped objects occur (dependent collisions), the haptic feedback usually provides satisfactory haptic perception. Based on a qualitative study, it is shown that the haptic feedback obtained during remote assemblies with dependent collisions can continue to improve the sense of co-presence between users with regard to only visual feedback.

BackgroundVirtual simulations (VSs) enhance clinical competencies and skills. However, a previous systematic review of 9 RCT studies highlighted a paucity of literature on the effects of haptic feedback in surgical VSs. An updated systematic and scoping review was conducted to encompass more studies and a broader range of study methodologies.MethodsA systematic literature search was conducted on July 31, 2023, in MEDLINE, Embase, and Cochrane. English language studies comparing haptic vs non-haptic conditions and using VSs were included. Studies were evaluated and reported using PRISMA-ScR guidelines.ResultsOut of 2782 initial studies, 51 were included in the review. Most studies used RCT (21) or crossover (23) methodologies with medical residents, students, and attending physicians. Most used post-intervention metrics, while some used pre- and post-intervention metrics. Overall, 34 performance results from studies favored haptics, 3 favored non-haptics, and the rest showed mixed or equal results.ConclusionThis updated review highlights the diverse application of haptic technology in surgical VSs. Haptics generally enhances performance, complements traditional teaching methods, and offers personalized learning with adequate simulator validation. However, a sparsity of orienting to the simulator, pre-/post-study designs, and small sample sizes poses concerns with the validity of the results. We underscore the urgent need for standardized protocols, large-scale studies, and nuanced understanding of haptic feedback integration. We also accentuate the significance of simulator validation, personalized learning potential, and the need for researcher, educator, and manufacturer collaboration. This review is a guidepost for navigating the complexities and advancements in haptic-enhanced surgical VSs.

This paper reports on the effectiveness of haptic feedback in a low-cost virtual-reality training environment for military and emergency personnel. Subjects participated in simulated exercises for clearing a damaged building, implemented using a modified commercial videogame engine and USB-compatible force and vibration feedback devices. With the addition of haptic feedback, subjects made fewer procedural errors and completed some tasks more rapidly. Initially, best results were obtained with vibration feedback. After modifications to the collision detection and display algorithm, force feedback produced equivalent results and was preferred by a majority of subjects.

Slip feedback is an important cue in everyday object manipulation, but it is generally missing in tele-operation systems. To test the usefulness of simple, abstract types of feedback that warn the user about slip events, we tested the effect of auditory and haptic vibration feedback in a tele-operation task. Participants were asked to hold an object in a remote robot hand, and the force profiles that they exerted in response to slip events were measured. Haptic feedback did not significantly change the response characteristics, but auditory feedback did significantly improve response latency. A small but significant difference between haptic and auditory reaction times (60 ms) found in our control experiment might explain the difference between the feedback types.

For over two centuries, the wheelchair has been one of the most common assistive devices for individuals with locomotor impairments without many modifications. Wheelchair control is a complex motor task that increases both the physical and cognitive workload. New wheelchair interfaces, including Power Assisted devices, can further augment users by reducing the required physical effort, however little is known on the mental effort implications. In this study, we adopted a neuroergonomic approach utilizing mobile and wireless functional near infrared spectroscopy (fNIRS) based brain monitoring of physically active participants. 48 volunteers (30 novice and 18 experienced) self-propelled on a wheelchair with and without a PowerAssist interface in both simple and complex realistic environments. Results indicated that as expected, the complex more difficult environment led to lower task performance complemented by higher prefrontal cortex activity compared to the simple environment. The use of the PowerAssist feature had significantly lower brain activation compared to traditional manual control only for novices. Expertise led to a lower brain activation pattern within the middle frontal gyrus, complemented by performance metrics that involve lower cognitive workload. Results here confirm the potential of the Neuroergonomic approach and that direct neural activity measures can complement and enhance task performance metrics. We conclude that the cognitive workload benefits of PowerAssist are more directed to new users and difficult settings. The approach demonstrated here can be utilized in future studies to enable greater personalization and understanding of mobility interfaces within real-world dynamic environments.

In shared autonomy, human teleoperation blends with intelligent robot autonomy to create robot control. This combination enables assistive robot manipulators to help human operators by predicting and reaching the human's desired target. However, this reduces the control authority of the user and the transparency of the interaction. This negatively affects their willingness to use the system. We propose haptic feedback as a seamless and natural way for the robot to communicate information to the user and assist them in completing the task. A proof-of-concept demonstration of our system illustrates the effectiveness of haptic feedback in communicating the robot's goals to the user. We hypothesize that this can be an effective way to improve performance in teleoperated manipulation tasks, while retaining the control authority of the user.

Navigating the web represents a complex cognitive activity that requires effective integration of different stimuli and the correct functioning of numerous cognitive abilities (including attention, perception, and working memory). Despite the potential relevance of the topic, numerous limitations are present throughout the literature about the cognitive load during online activities. The main aim of this study is to investigate cognitive load during comprehension and information-seeking tasks. In particular, we here focus on the comparison of the cognitive load required while performing those tasks using mobile or PC-based devices. This topic has become even more crucial due to the massive adoption of smart working and distance learning during the COVID-19 pandemic. A great effort is nowadays devoted to the detection and quantification of stressful states induced by working and learning activities. Continuous stress and excessive cognitive load are two of the main causes of mental and physical illnesses such as depression or anxiety. Cognitive load was measured through electroencephalography (EEG), acquired via a low-cost wireless EEG headset. Two different tasks were considered: reading comprehension (CO) of online text and online information-seeking (IS). Moreover, two experimental conditions were compared, administering the two tasks using mobile (MB) and desktop (PC) devices. Eleven participants were involved in each experimental condition, MB and PC, performing both the tasks on the same device, for a total of twenty-two people, recruited from students, researchers, and employees of the university. The following two research questions were investigated: Q1: Is there a difference in the cognitive load while performing the comprehension and the information-seeking tasks? Q2: Does the adopted device influence the cognitive load? The results obtained show that the baseline (BL) requires the lower cognitive load in both the conditions, while in IS task, the requirement reaches its highest value, especially using a mobile phone. In general, the power of all the brain wave bands increased in all conditions (MB and PC) during the two tasks (CO and IS), except for alpha, which is usually high in a state of relaxation and low cognitive load. People include website navigation into their daily routines, and for this, it is important to create an interaction that is as easy and barrier-free as possible. An effective design allows a user to focus on interesting information: many website architectures, instead, are an obstacle to be overcome; they impose a high cognitive load and poor user experience. All these aspects draw cognitive resources away from the user’s primary task of finding and comprehending the site’s information. Having information about how the cognitive load varies based on the device adopted and the considered task can provide useful indicators in this direction. This work suggests that using an EEG low-cost wearable device could be useful to quantify the cognitive load induced, allowing the development of new experiments to analyse these dependencies deeper, and to provide suggestions for better interaction with the web.

Background National clinical audit programmes aim to improve patient care by reviewing performance against explicit standards and directing action towards areas not meeting those standards. Their impact can be improved by (1) optimising feedback content and format, (2) strengthening audit cycles and (3) embedding randomised trials evaluating different ways of delivering feedback. Objectives The objectives were to (1) develop and evaluate the effects of modifications to feedback on recipient responses, (2) identify ways of strengthening feedback cycles for two national audits and (3) explore opportunities, costs and benefits of national audit participation in a programme of trials. Design An online fractional factorial screening experiment (objective 1) and qualitative interviews (objectives 2 and 3). Setting and participants Participants were clinicians and managers involved in five national clinical audits – the National Comparative Audit of Blood Transfusions, the Paediatric Intensive Care Audit Network, the Myocardial Ischaemia National Audit Project, the Trauma Audit & Research Network and the National Diabetes Audit – (objective 1); and clinicians, members of the public and researchers (objectives 2 and 3). Interventions We selected and developed six online feedback modifications through three rounds of user testing. We randomised participants to one of 32 combinations of the following recommended specific actions: comparators reinforcing desired behaviour change; multimodal feedback; minimised extraneous cognitive load for feedback recipients; short, actionable messages followed by optional detail; and incorporating ‘the patient voice’ (objective 1). Main outcome measures The outcomes were intended actions, including enactment of audit standards (primary outcome), comprehension, user experience and engagement (objective 1). Results For objective 1, the primary analysis included 638 randomised participants, of whom 566 completed the outcome questionnaire. No modification independently increased intended enactment of audit standards. Minimised cognitive load improved comprehension (+0.1; p = 0.014) and plans to bring audit findings to colleagues’ attention (+0.13, on a –3 to +3 scale; p = 0.016). We observed important cumulative synergistic and antagonistic interactions between modifications, participant role and national audit. The analysis in objective 2 included 19 interviews assessing the Trauma Audit Research Network and the National Diabetes Audit. The identified ways of strengthening audit cycles included making performance data easier to understand and guiding action planning. The analysis in objective 3 identified four conditions for effective collaboration from 31 interviews: compromise – recognising capacity and constraints; logistics – enabling data sharing, audit quality and funding; leadership – engaging local stakeholders; and relationships – agreeing shared priorities and needs. The perceived benefits of collaboration outweighed the risks. Limitations The online experiment assessed intended enactment as a predictor of actual clinical behaviour. Interviews and surveys were subject to social desirability bias. Conclusions National audit impacts may be enhanced by strengthening all aspects of feedback cycles, particularly effective feedback, and considering how different ways of reinforcing feedback act together. Future work Embedded randomised trials evaluating different ways of delivering feedback within national clinical audits are acceptable and may offer efficient, evidence-based and cumulative improvements in outcomes. Trial registration This trial is registered as ISRCTN41584028. Funding details This project was funded by the National Institute for Health and Care Research (NIHR) Health and Social Care Delivery Research programme and will be published in full in Health and Social Care Delivery Research; Vol. 10, No. 15. See the NIHR Journals Library website for further project information.

Objective The objective of this study was to investigate the relationship between eye-catching effects and mental workload at highway tunnel entrances. Specifically, the study aimed to analyze drivers’ eye blink behavior to gain a comprehensive understanding of how visual attraction at tunnel entrances affects cognitive workload. Methods 50 participants were recruited for the naturalistic driving experiment. Four different visually attractive driving scenarios (baseline, landscape-style architecture, tip slogan, and billboard) were selected. Eye-tracking technology was utilized to record and analyze the eye blink behavior of participating drivers. Various metrics, including blink frequency, blink duration, inter-blink interval, and pupil diameter after a blink, were measured and compared across different scenarios. Results The results of the study demonstrated significant differences in drivers’ eye blink behavior across the different experimental scenarios, indicating the influence of visual attraction conditions on mental workload. The presence of eye-catching stimuli (landscape-style architecture, tip slogan, and billboard scenarios) at tunnel entrances resulted in decreased blink frequency, shorter blink duration, longer inter-blink intervals, and larger pupil diameter after a blink compared to when no specific eye-catching stimuli were present (baseline condition). These findings suggest that visual attractions capture drivers’ attention, leading to increased cognitive workload and attentional demands. Conclusions The findings of this study contribute to the existing literature on driver attention and mental workload, particularly in relation to eye-catching effect in tunnel environments. The presence of eye-catching stimuli at tunnel entrances can distract drivers and increase their mental workload, potentially compromising driving performance and safety. It is crucial for transportation authorities and designers to carefully consider the design and placement of visual attractions in tunnel entrances to minimize distraction and cognitive workload. By doing so, driving safety and performance can be enhanced in tunnel entrances.

To test the effects of enhanced display information ("symbology") on cognitive workload in a simulated helicopter environment, using the detection response task (DRT). Workload in highly demanding environments can be influenced by the amount of information given to the operator and consequently it is important to limit potential overload. Participants (highly trained military pilots) completed simulated helicopter flights, which varied in visual conditions and the amount of information given. During these flights, participants also completed a DRT as a measure of cognitive workload. With more visual information available, pilots' landing accuracy was improved across environmental conditions. The DRT is sensitive to changes in cognitive workload, with workload differences shown between environmental conditions. Increasing symbology appeared to have a minor effect on workload, with an interaction effect of symbology and environmental condition showing that symbology appeared to moderate workload. The DRT is a useful workload measure in simulated helicopter settings. The level of symbology-moderated pilot workload. The increased level of symbology appeared to assist pilots' flight behavior and landing ability. Results indicate that increased symbology has benefits in more difficult scenarios. The DRT is an easily implemented and effective measure of cognitive workload in a variety of settings. In the current experiment, the DRT captures the increased workload induced by varying the environmental conditions, and provides evidence for the use of increased symbology to assist pilots.