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Future exploitation of marine resources in a sustainable and eco-friendly way requires autonomous underwater robotics with human-like perception. However, the development of such intelligent robots is now impeded by the lack of adequate underwater haptic sensing technology. Inspired by the populational coding strategy of the human tactile system, we harness the giant magnetoelasticity in soft polymer systems as an innovative platform technology to construct a multimodal underwater robotic skin for marine object recognition with intrinsic waterproofness and a simple configuration. The bioinspired magnetoelastic artificial skin enables multiplexed tactile modality in each single taxel and obtains an impressive classification rate of 95% in identifying seven types of marine creatures and marine litter. By introducing another degree of freedom in underwater haptic sensing, this work represents a milestone toward sustainable marine resource exploitation.

The perception of signals from within the body, known as interoception, is increasingly recognized as a prerequisite for physical and mental health. This study is dedicated to the development of effective technological approaches for enhancing interoceptive abilities. We provide evidence of the effectiveness and practical feasibility of a novel real‐time haptic heartbeat supplementation technology combining principles of biofeedback and sensory augmentation. In a randomized controlled study, we applied the developed naturalistic haptic feedback on a group of 30 adults, while another group of 30 adults received more traditional real‐time visual heartbeat feedback. A single session of haptic, but not visual heartbeat feedback resulted in increased interoceptive accuracy and confidence, as measured by the heart rate discrimination task, and in a shift of attention toward the body. Participants rated the developed technology as more helpful and pleasant than the visual feedback, thus indicating high user satisfaction. The study highlights the importance of matching sensory characteristics of the feedback provided to the natural bodily prototype. Our work suggests that real‐time haptic feedback might be a superior approach for strengthening the mind–body connection in interventions for physical and mental health. In the study, we evaluate the efficacy of a newly developed interoceptive training—supplementation of heartbeat sensations through real‐time haptic feedback. We revealed that the haptic feedback technology improves interoceptive accuracy, increases confidence, and shifts attention toward bodily sensations more effectively than the traditional visual feedback approach, opening new possibilities for clinical and neurowellness applications. [ABSTRACT FROM AUTHOR]

Background: The absence of force feedback (FFB) is considered a technical limitation in robotic-assisted surgery (RAS). This pre-clinical study aims to evaluate the forces applied to tissues using a novel integrated FFB technology, which allows surgeons to sense forces exerted at the instrument tips. Methods: Twenty-eight surgeons with varying experience levels employed FFB instruments to perform three robotic-assisted surgical tasks, including retraction, dissection, and suturing, on inanimate or ex-vivo models, while the instrument sensors recorded and conveyed the applied forces to the surgeon hand controllers of the robotic system. Generalized Estimating Equations (GEE) models were used to analyze the mean and maximal forces applied during each task with the FFB sensor at the "Off" setting compared to the "High" sensitivity setting for retraction and to the "Low", "Medium", and "High" sensitivity settings for dissection and suturing. Sub-analysis was also performed on surgeon experience levels. Results: The use of FFB at any of the sensitivity settings resulted in a significant reduction in both the mean and maximal forces exerted on tissue during all three robotic-assisted surgical tasks (p < 0.0001). The maximal force exerted, potentially associated with tissue damage, was decreased by 36%, 41%, and 55% with the use of FFB at the "High" sensitivity setting while performing retraction, dissection, and interrupted suturing tasks, respectively. Further, the use of FFB resulted in substantial reductions in force variance during the performance of all three types of tasks. In general, reductions in mean and maximal forces were observed among surgeons at all experience levels. The degree of force reduction depends on the sensitivity setting selected and the types of surgical tasks evaluated. Conclusions: Our findings demonstrate that the utilization of FFB technology integrated in the robotic surgical system significantly reduced the forces exerted on tissue during the performance of surgical tasks at all surgeon experience levels. The reduction in the force applied and a consistency of force application achieved with FFB use, could result in decreases in tissue trauma and blood loss, potentially leading to better clinical outcomes in patients undergoing RAS. Future studies will be important to determine the impact of FFB instruments in a live clinical environment. [ABSTRACT FROM AUTHOR]

Background/Objectives: In perioperative nursing practice, nursing students can engage in direct, in-person clinical experiences in perioperative environments; however, they face limitations due to infection and contamination risks. This study aimed to develop and evaluate educational content for perioperative clinical practice for nursing students using virtual reality (VR) and haptic technology. Methods: The program, based on the Unity Engine, was created through programming and followed the system development lifecycle (SDLC) phases of analysis, design, implementation, and evaluation. This program allows nursing students to engage in perioperative practice using VR and haptic technology, overcoming previous environmental limitations and enhancing practical and immersive experiences through multi-sensory stimuli. Results: Expert evaluations indicated that the developed content was deemed suitable for educational use. Additionally, a usability assessment with 29 nursing students revealed high levels of presence, usability, and satisfaction among the participants. Conclusions: This program can serve as a foundation for future research on VR-based perioperative nursing education. [ABSTRACT FROM AUTHOR]

Background: Haptic feedback is an established method to provide sensory information (tactile or kinesthetic) about the performance of an activity that an individual can not consciously detect. After a stroke, hemiparesis usually leads to gait and balance disorders, where haptic feedback can be a promising approach to promote recovery. The aim of the present study is to understand its potential effects on gait and balance impairments, both after interventions and in terms of immediate effects. Methods: This research was carried out using the following scientific databases: Embase, Scopus, Web of Science, and Medline/PubMed from inception to May 2024. The Checklist for Measuring quality, PEDro scale, and the Cochrane collaboration tool were used to assess the methodological quality and risk of bias of the studies. Results: Thirteen articles were chosen for qualitative analysis, with four providing data for the meta-analysis. The findings did not yield definitive evidence on the effectiveness of haptic feedback for treating balance and gait disorders following a stroke. Conclusions: Further research is necessary in order to determine the effectiveness of haptic feedback mechanisms, with larger sample sizes and more robust methodologies. Longer interventions and pre–post design in gait training with haptic feedback are necessary. [ABSTRACT FROM AUTHOR]

Virtual reality (VR) offers immersive visual and auditory experiences, transporting users to alternate realities. However, existing VR systems lack realistic haptic feedback mechanisms, resulting in unsatisfactory immersive experiences. In this study, we developed and tested a haptic glove that simulates realistic tactile sensations, enhancing user interaction with virtual artifacts. Our research investigates the impact of finger-specific vibrotactile feedback (FSVF) on user experience in virtual museum environments. Using a mixed-methods approach, 30 participants engaged in object-manipulation tasks in three settings: no haptic feedback, standard controller feedback, and vibrotactile glove feedback. The findings demonstrate that the vibrotactile glove approach considerably improves user accuracy, efficiency, immersion, and satisfaction compared with other traditional interaction methods. Participants completed tasks more accurately and quickly with the glove, reporting high levels of engagement and immersion. The results highlight the potential of advanced haptic feedback in transforming virtual reality technology, particularly for educational and cultural applications. Further, they provide valuable insights for designing and applying future haptic technology in immersive environments. [ABSTRACT FROM AUTHOR]

Lateropulsion is a post-stroke phenomenon marked by an active push of the body across the midline towards the more affected side and/or a resistance of the weight shift towards the less affected side. Within the mechanisms of treatment, feedback systems have been shown to be effective. The aim of the present study was to create a body of knowledge by performing a literature review on the use of feedback mechanisms in the treatment of lateropulsion and to report two cases of lateropulsion patients who had undergone feedback-based treatment. Methods: The review was performed across five different databases (Embase, Medline/PubMed, Scopus, Web of Science, and PEDro) up to February 2024, and haptic feedback intervention was incorporated into the case series (with lateropulsion and ambulation capacity as the main variables). Results: In total, 211 records were identified and 6 studies were included after the review of the literature. The most used feedback modality was visual feedback. In the case series, positive results were observed from the intervention, particularly in the recovery of lateropulsion and balance, as well as in the improvement of gait for one patient. Patients demonstrated good adherence to the intervention protocol without adverse effects. Conclusions: Visual feedback is the most commonly used feedback modality in lateropulsion patients but other mechanisms such as haptic feedback also are feasible and should be taken into account. Larger sample sizes, extended follow-up periods, and the isolation of feedback mechanisms must be established to clarify evidence. [ABSTRACT FROM AUTHOR]

Purpose: The use of 3D-printing in every field of medicine is expanding, notably as an educational tool. The aim of this study was to assess how visuospatial abilities (VSA) of students may impact learning helped with 3D-printed models. Methods: Participants were undergraduate medical school students during their clinical rotation in oral and maxillofacial surgery in two French Universities. Students were included prospectively and consecutively from September 2021 to June 2023. First, a lecture about craniosynostosis was performed with the help of 3D-printed models of craniosynostotic skulls. Then, a mental rotation test (MRT) followed by a multiple-choice questions (MCQs) form about craniosynostosis presentations were submitted to the students. Results: Forty undergraduate students were finally included. Median MRT score was 15 (10.75;21) and median score to the MCQs was 13 (11.75;14). There was a significantly weak correlation between the MRT-A score and the score to the MCQs (rs = 0.364; p = 0.022). A simple linear regression was calculated to predict the result to the MCQs on MRT-A score [ (F(1,39) = 281.248; p < 0.0001), with a R2 of 0.878 ]. Conclusion: This study showed that VSA has an impact on the recognition of complex clinical presentations, i.e. skulls with craniosynostosis. The correlation found between VSA and complex 3D shape recognition after learning aided with 3D-printed model is emphasizing the importance of VSA when using innovative technologies. Thus, VSA training should be envisioned during the curriculum. [ABSTRACT FROM AUTHOR]

Abstract Novel sensing and actuation technologies have notably advanced haptic interfaces, paving the way for more immersive user experiences. We introduce a haptic system that transcends traditional pressure-based interfaces by delivering more comprehensive tactile sensations. This system provides an interactive combination of a robotic hand and haptic glove to operate devices within the wireless communication range. Each component is equipped with independent sensors and actuators, enabling real-time mirroring of user’s hand movements and the effective transmission of tactile information. Remarkably, the proposed system has a multimodal feedback mechanism based on both vibration motors and Peltier elements. This mechanism ensures a varied tactile experience encompassing pressure and temperature sensations. The accuracy of tactile feedback is meticulously calibrated according to experimental data, thereby enhancing the reliability of the system and user experience. The Peltier element for temperature feedback allows users to safely experience temperatures similar to those detected by the robotic hand. Potential applications of this system are wide ranging and include operations in hazardous environments and medical interventions. By providing realistic tactile sensations, our haptic system aims to improve both the performance and safety of workers in such critical sectors, thereby highlighting the great potential of advanced haptic technologies.

Novel sensing and actuation technologies have notably advanced haptic interfaces, paving the way for more immersive user experiences. We introduce a haptic system that transcends traditional pressure-based interfaces by delivering more comprehensive tactile sensations. This system provides an interactive combination of a robotic hand and haptic glove to operate devices within the wireless communication range. Each component is equipped with independent sensors and actuators, enabling real-time mirroring of user's hand movements and the effective transmission of tactile information. Remarkably, the proposed system has a multimodal feedback mechanism based on both vibration motors and Peltier elements. This mechanism ensures a varied tactile experience encompassing pressure and temperature sensations. The accuracy of tactile feedback is meticulously calibrated according to experimental data, thereby enhancing the reliability of the system and user experience. The Peltier element for temperature feedback allows users to safely experience temperatures similar to those detected by the robotic hand. Potential applications of this system are wide ranging and include operations in hazardous environments and medical interventions. By providing realistic tactile sensations, our haptic system aims to improve both the performance and safety of workers in such critical sectors, thereby highlighting the great potential of advanced haptic technologies. [ABSTRACT FROM AUTHOR]

This case report presents a challenging case of catastrophic failure of a fixed partial denture involving fracture of the prosthesis as well as supporting implants and teeth. The use of robotics facilitated efficient and successful restoration of the patient's dentition. After extraction of 2 fractured teeth and 1 fractured implant, 2 new implants were placed with haptic guidance from robotics, which allowed for stable osteotomies and high initial implant stability quotients. Due to the patient's tremors and heavy occlusal forces, restoration was delayed to allow the surgical site to heal, and the patient received a provisional partial denture. With subsequent placement of the final restoration, the treatment was fully completed in 4.5 months and required only a single surgical procedure. The use of haptic robotics in this case allowed for accurate planning, spacing, and placement of screw-retained implants with an optimal arch, leading to the best long-term outcome for the patient. [ABSTRACT FROM AUTHOR]

Autistic people typically need methodical support as they explore and interact with their immediate surroundings and the objects associated with them, emphasising the importance of spatial knowledge and cognitive skills in improving and understanding their surroundings. The objective of this research paper is to present a conceptual and technical framework that could be of significant assistance in developing spatial ability and cognitive skills in autistic people. This framework is constructed based on aspects of autistic behaviour, spatial cognition, and technical aspects of haptic technology and virtual environments (VEs). The framework uses the Model, View, Controller (MVC) pattern as its structural foundation. This paper highlights the important elements required for scholars and designers to create and develop a haptic-based virtual environment (HBVE) for autistic people in order to improve spatial knowledge and cognitive skills. Furthermore, this research also aimed to create an HBVE application based on the proposed framework in order to assess its effectiveness. This research paper evaluates the proposed framework based on end-user perspectives. The findings indicate that the experimental study conducted with autistic people has demonstrated notable progress in enhancing spatial knowledge and cognitive abilities among this population. The experimental implementation of these findings supports the developed framework’s efficacy.

Background/Objectives: In perioperative nursing practice, nursing students can engage in direct, in-person clinical experiences in perioperative environments; however, they face limitations due to infection and contamination risks. This study aimed to develop and evaluate educational content for perioperative clinical practice for nursing students using virtual reality (VR) and haptic technology. Methods: The program, based on the Unity Engine, was created through programming and followed the system development lifecycle (SDLC) phases of analysis, design, implementation, and evaluation. This program allows nursing students to engage in perioperative practice using VR and haptic technology, overcoming previous environmental limitations and enhancing practical and immersive experiences through multi-sensory stimuli. Results: Expert evaluations indicated that the developed content was deemed suitable for educational use. Additionally, a usability assessment with 29 nursing students revealed high levels of presence, usability, and satisfaction among the participants. Conclusions: This program can serve as a foundation for future research on VR-based perioperative nursing education.

Virtual reality (VR) offers immersive visual and auditory experiences, transporting users to alternate realities. However, existing VR systems lack realistic haptic feedback mechanisms, resulting in unsatisfactory immersive experiences. In this study, we developed and tested a haptic glove that simulates realistic tactile sensations, enhancing user interaction with virtual artifacts. Our research investigates the impact of finger-specific vibrotactile feedback (FSVF) on user experience in virtual museum environments. Using a mixed-methods approach, 30 participants engaged in object-manipulation tasks in three settings: no haptic feedback, standard controller feedback, and vibrotactile glove feedback. The findings demonstrate that the vibrotactile glove approach considerably improves user accuracy, efficiency, immersion, and satisfaction compared with other traditional interaction methods. Participants completed tasks more accurately and quickly with the glove, reporting high levels of engagement and immersion. The results highlight the potential of advanced haptic feedback in transforming virtual reality technology, particularly for educational and cultural applications. Further, they provide valuable insights for designing and applying future haptic technology in immersive environments.

Lateropulsion is a post-stroke phenomenon marked by an active push of the body across the midline towards the more affected side and/or a resistance of the weight shift towards the less affected side. Within the mechanisms of treatment, feedback systems have been shown to be effective. The aim of the present study was to create a body of knowledge by performing a literature review on the use of feedback mechanisms in the treatment of lateropulsion and to report two cases of lateropulsion patients who had undergone feedback-based treatment. Methods: The review was performed across five different databases (Embase, Medline/PubMed, Scopus, Web of Science, and PEDro) up to February 2024, and haptic feedback intervention was incorporated into the case series (with lateropulsion and ambulation capacity as the main variables). Results: In total, 211 records were identified and 6 studies were included after the review of the literature. The most used feedback modality was visual feedback. In the case series, positive results were observed from the intervention, particularly in the recovery of lateropulsion and balance, as well as in the improvement of gait for one patient. Patients demonstrated good adherence to the intervention protocol without adverse effects. Conclusions: Visual feedback is the most commonly used feedback modality in lateropulsion patients but other mechanisms such as haptic feedback also are feasible and should be taken into account. Larger sample sizes, extended follow-up periods, and the isolation of feedback mechanisms must be established to clarify evidence.

An emerging view in cognitive neuroscience holds that the extraction of emotional relevance from sensory experience extends beyond the centralized appraisal of sensation in associative brain regions, including frontal and medial‐temporal cortices. This view holds that sensory information can be emotionally valenced from the point of contact with the world. This view is supported by recent research characterizing the human affiliative touch system, which carries signals of soft, stroking touch to the central nervous system and is mediated by dedicated C‐tactile afferent receptors. This basic scientific research on the human affiliative touch system is informed by, and informs, technology design for communicating and regulating emotion through touch. Here, we review recent research on the basic biology and cognitive neuroscience of affiliative touch, its regulatory effects across the lifespan, and the factors that modulate it. We further review recent work on the design of haptic technologies, devices that stimulate the affiliative touch system, such as wearable technologies that apply the sensation of soft stroking or other skin‐to‐skin contact, to promote physiological regulation. We then point to future directions in interdisciplinary research aimed at both furthering scientific understanding and application of haptic technology for health and wellbeing. [ABSTRACT FROM AUTHOR]

In this paper, an interactive learning experience is proposed, aiming to involve museum visitors in a personalized experience of the transmittal of cultural knowledge in an active and creative way. The proposed system, called HapticSOUND, consists of three subsystems: (a) the Information, where visitors are informed about the traditional musical instruments; (b) the Entertainment, where visitors are entertained by playing serious games to virtually assemble traditional musical instruments by a set of 3D objects; and (c) the Interaction, where visitors interact with a digital musical instrument which is an exact 3D-printed replica of a traditional musical instrument, where cameras have been placed to capture user gestures and machine learning algorithms have been implemented for gesture recognition. The museum visitor can interact with the lifelike replica to tactilely and aurally explore the instrument's abilities, producing sounds guided by the system and receiving real-time visual and audio feedback. Emphasis is given to the Interaction Subsystem, where a pilot study was conducted to evaluate the usability of the subsystem. Preliminary results were promising since the usability was satisfactory, indicating that it is an innovative approach that utilizes sensorimotor learning and machine learning techniques in the context of playing sounds based on real-time gesture and fingering recognition. [ABSTRACT FROM AUTHOR]

This study describes a new method for gripping and sensing a physical object (or material) with a prosthetic arm that uses haptic technologies, kinaesthetic communication, and machine learning. Haptic technology is a method of determining if an object is firm or soft as if it were gripped by a human and determining how much gripping force the object can withstand without crushing it. The bending moment and gripping force are measured using a flex sensor in human fingers and a pressure sensor applied by the tip of the human fingers. Three different types of objects (soft sponge, hard sponge, and plastic) are studied and tested in this work by pressing them with varying gripping pressures (soft, firm, and firmer). In addition, a model (Haptic Intelligence Recorder arm) is proposed that can anticipate the object type and gripping force based on the recorded intelligence data. The major goal is to educate our prosthetic hand to be able to grip various items with varying finger pressures, much like we can do naturally. Finally, a glove is created that is tailored to the intelligence arm’s ability to anticipate grabbing items.

[Display omitted] Increasing the surface contact area (SCA) between active materials of triboelectric nanogenerator (TENG) can effectively enhance energy harvesting performance. In the meantime, owing to potential intimate contacts between skin and wearables, hygienic aspects of TENG devices with high SCA become important. Herein, we present a robust route to fabricate flexible TENGs with antimicrobial capability realized by nano-patterning thermoplastic polyurethane (TPU) thin films. Without involving sophisticated equipment and time-consuming technique, simply tuning curing conditions of capillary force lithography could precisely control the nanostructure geometry. Our topographically designed TENGs could promote higher power generation while preventing biofilm formation without adding any chemical additives. Analysis of pattern amplitude and wavelength correlation to output power is uniquely provided for a deeper understanding of how patterns enable peak performance of TENGs. Furthermore, a prototype TENG was innovatively applied to a smart device as a transparent screen sensor. Specific finger trajectories could be recognized by different electric responses, and as-generated electricity can be directly charged into comercial capacitors. Our proposed TENGs with critical hygienic advancements are expected to open avenues for TENG-incorporated wearables in the post-pandemic era. [ABSTRACT FROM AUTHOR]

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• Well-designed high-fidelity simulation methods and haptic virtual simulation methods can be used to ensure the maintenance and retention of theoretical knowledge in learning CPR practice. • Simulations using computer-assisted full-body high reality simulators and technological virtual simulations that give the feeling of haptic touch in a virtual environment allow the implementation of all steps in the CPR training skill and evaluate the student. • Nurse educators should consider the advantages of high-fidelity simulation methods over haptic virtual simulation to improve satisfaction and confidence in learning CPR. Simulation provides learners with a realistic learning environment where they experience real-life situations. Cardiopulmonary resuscitation (CPR) is performed to maintain respiration and circulation. Nursing students may experience CPR unexpectedly. Simulation types are increasing in line with the needs of nursing education. The study aims to compare the effects of haptic virtual simulations (HVS) versus high-fidelity simulations (HFS) in CPR training of nursing students on their knowledge, skills, satisfaction, and self-confidence levels. The study sample consisted of 60 students, 30 in the HVS group and 30 in the HFS group. The same scenario was used in both simulations. Data were collected with the Sociodemographic Data Form, the Cardiopulmonary Resuscitation Knowledge Test, the Cardiopulmonary Resuscitation Skills Checklist, and the Student Satisfaction and Self Confidence in Learning Scale. The CPR knowledge level of both groups increased significantly after the simulation (p < 0.05). No significant difference was found between the practice skill levels between the groups (p > 0.05). The satisfaction and self-confidence levels of the students in HFS group were significantly higher than in HVS group (p < 0.05). Haptic virtual and high fidelity CPR training simulations equally affect students' knowledge and skill levels. On the other hand, students' satisfaction and self-confidence levels in learning increased more with high-fidelity simulators. [ABSTRACT FROM AUTHOR]

The rapid and accurate assessment of neonatal asphyxia is critical to preventing potentially fatal outcomes. Therefore, nursing students must acquire the skills to assess newborn conditions immediately after birth and implement appropriate interventions. Virtual reality (VR) simulation education has emerged as a promising tool for nursing education, offering repetitive and customizable clinical training while ensuring patient safety and overcoming spatiotemporal limitations. This study investigated the effects of a contactless hand-tracking-based immersive VR neonatal Apgar scoring program, adapted from experiential learning theory. A non-randomized controlled trial with a pre-post-test, quasi-experimental design was conducted. The study was conducted at two nursing schools from July to October 2023. Participants comprised nursing students holding bachelor's degrees in nursing, with three or four years of experience and successful completion of a neonatal nursing theory course. Additionally, individuals with at least six months of experience working in a neonatal ward or delivery room before enrolling in nursing school were eligible. The participants were divided into three groups: the VR group (n = 27) received contactless hand-tracking-based immersive VR neonatal Apgar scoring training; the simulation group (n = 28) received face-to-face Apgar scoring simulation training; and the control group (n = 26) received instruction on the Apgar scoring criteria. Changes in scores among the VR, simulation, and control groups were statistically compared using ANOVA with SPSS-WIN 27.0. The VR group exhibited significant improvements in knowledge, learning satisfaction, self-confidence, immersion, and motivation compared to the simulation and control groups. Moreover, satisfaction was significantly higher in the VR group than in the simulation group. The hand-tracking-based immersive VR neonatal Apgar scoring program represents an innovative and effective educational tool, prioritizing the privacy and rights of mothers and infants. It can potentially replace traditional delivery-room clinical training, which is observation-based and limited. • An immersive VR newborn Apgar score measurement training program is developed. • The program uses contactless hand tracking to minimize cognitive dissonance. • Face-to-face Apgar score measurement is simulated using a high-fidelity simulator. • The effectiveness and usability were compared with related online lectures. • Significantly improved results were obtained in the VR group. [ABSTRACT FROM AUTHOR]

The article presents information related to sensory science, a scientific discipline to invoke responses that are perceived by sensory organs. Topics include digital technology as a natural facilitator to separate the conscious response, Ultraleap's haptic technology, an the usage of virtual reality (VR) and augmented reality (AR) in sensory science research.

Affective haptic devices (AHDs) have been developed with the aim of communicating touch acts, symbolic messages, emotions, and/or providing a sense of social awareness. Within AHDs, three categories can be distinguished: mediated social touch (MST), symbolic communication systems, and awareness systems. For each of these categories, prototypes have been developed and discussed in the literature. Each such prototype, however, describes but a small part of the design space of AHDs. What is lacking is a description of the design space itself—of all choices that can be considered during the design process. Such a description will allow for a more systematic exploration of AHD designs and provides a means of combining insights gained from individual point solutions (i.e., existing prototypes). Therefore, in this article, we provide a systematic description of the design space of AHDs and its underlying dimensions based on general (e.g., revisability or synchronicity) and AHD-specific (e.g., actuation type) communication system characteristics. This resulted in 17 design dimensions, each consisting of two or more categories (the design characteristics). Based on a systematic literature search from devices up to 2019, 89 AHD prototypes were identified, and each was classified on the design dimensions. The empirical analysis of where these AHDs are located in the design space revealed, first, that potentially interesting characteristics from mediated communication, such as revisability and reviewability, are underexplored in AHDs. Second, MST devices were found to often lack those system characteristics, such as real-time modalities, that seem crucial for providing the affordances needed to simulate social touch. In particular, when comparing symbolic and awareness devices to MST devices, we found the latter to more frequently lack some of the key characteristics of face-to-face communication (i.e., bi-directional and symmetric communication). Limitations and implications are discussed.

In this paper, an interactive learning experience is proposed, aiming to involve museum visitors in a personalized experience of the transmittal of cultural knowledge in an active and creative way. The proposed system, called HapticSOUND, consists of three subsystems: (a) the Information, where visitors are informed about the traditional musical instruments; (b) the Entertainment, where visitors are entertained by playing serious games to virtually assemble traditional musical instruments by a set of 3D objects; and (c) the Interaction, where visitors interact with a digital musical instrument which is an exact 3D-printed replica of a traditional musical instrument, where cameras have been placed to capture user gestures and machine learning algorithms have been implemented for gesture recognition. The museum visitor can interact with the lifelike replica to tactilely and aurally explore the instrument’s abilities, producing sounds guided by the system and receiving real-time visual and audio feedback. Emphasis is given to the Interaction Subsystem, where a pilot study was conducted to evaluate the usability of the subsystem. Preliminary results were promising since the usability was satisfactory, indicating that it is an innovative approach that utilizes sensorimotor learning and machine learning techniques in the context of playing sounds based on real-time gesture and fingering recognition.

Aims: We present an innovative method based on haptics for the evaluation of the sense of touch in the hand, in people affected by type 1 diabetes. Methods: Forty individuals affected by diabetes and 20 healthy controls took part in the study; the diabetes group was further divided into two subgroups based on vibration sensitivity in the lower limb. By means of a novel haptic device, tactile sensitivity in the fingertip was measured as the ability of the participants to discriminate slip motion speed. Results: Tactile sensitivity was significantly lower in individuals affected by diabetes as compared to controls. Depending on the subgroup, the difference from the controls was equal to 0.11 (95% CI from 0.029 to 0.186) and to 0.267 (95% CI from 0.198 to 0.336). Within the diabetes group, tactile sensitivity correlated with vibration sensitivity in the upper (p = 0.001) and lower limb (p = 0.003). A significant relationship between nerve conduction parameters and tactile sensitivity was found (p = 0.03). Finally, we combined the different predictors (clinical, vibratory and electroneurography data) by using cluster analysis; tactile sensitivity was found to be significantly different between different clusters (p = 0.004). Conclusions: Early signs of tactile dysfunction in the hand were found in individuals affected by diabetes, even in absence of diabetic neuropathy. The protocol presented in this study is a promising tool for the assessment of tactile dysfunction in the hand in people affected by type 1 diabetes. [ABSTRACT FROM AUTHOR]

It is well known that primary school children may face difficulties in acquiring mathematical competence, possibly because teaching is generally based on formal lessons with little opportunity to exploit more multisensory-based activities within the classroom. To overcome such difficulties, we report here the exemplary design of a novel multisensory learning environment for teaching mathematical concepts based on meaningful inputs from elementary school teachers. First, we developed and administered a questionnaire to 101 teachers asking them to rate based on their experience the learning difficulty for specific arithmetical and geometrical concepts encountered by elementary school children. Additionally, the questionnaire investigated the feasibility to use multisensory information to teach mathematical concepts. Results show that challenging concepts differ depending on children school level, thus providing a guidance to improve teaching strategies and the design of new and emerging learning technologies accordingly. Second, we obtained specific and practical design inputs with workshops involving elementary school teachers and children. Altogether, these findings are used to inform the design of emerging multimodal technological applications, that take advantage not only of vision but also of other sensory modalities. In the present work, we describe in detail one exemplary multisensory environment design based on the questionnaire results and design ideas from the workshops: the Space Shapes game, which exploits visual and haptic/proprioceptive sensory information to support mental rotation, 2D–3D transformation and percentages. Corroborating research evidence in neuroscience and pedagogy, our work presents a functional approach to develop novel multimodal user interfaces to improve education in the classroom. [ABSTRACT FROM AUTHOR]

Affective haptic devices (AHDs) are communication technologies utilizing the sense of touch, and include mediated social touch (MST), symbolic haptic messaging, and awareness systems that, for example, let one feel another person's heartbeat. The COVID-19 pandemic and consequent social distancing measures have led to a reemphasis of the importance of social touch, and many people have experienced firsthand what it is like to miss touching loved ones. This offers an excellent opportunity to study people's intention to use AHDs. For this purpose, a survey study (n = 277) was conducted combining qualitative and quantitative data analysis methods. Touch deprivation, resulting from not being able to touch a loved one, was associated with intention to use AHDs: the more deprived an individual, the higher his or her intention to use AHDs. Technology readiness and touch aversion did not affect intention to use AHDs. AHDs for symbolic messaging gained higher interest than MST and awareness devices, and long-distance relationships were seen as the most likely scenario for using AHDs. Bi-directionality, synchronicity, and symmetry were regarded as important features for providing shared meaning and a sense of connectedness. Reviewability, multimodality, and actuation type were also deemed important. Limitations of the study and implications for the design of AHDs are discussed.

This article and the design fictions it presents are bound up with an ongoing qualitative-ethnographic study with Imazighen, the native people in remote Morocco. This group of people is marked by textual and digital illiteracy. We are in the process of developing multi-modal design fictions that can be used in workshops as a starting point for the co-development of further design fictions that envision the local population's desired digital futures. The design fictions take the form of storyboards, allowing for a non-textual engagement. The current content seeks to explore challenges, potentials, margins, and limitations for the future design of haptic and touch-sensitive technology as a means for interpersonal communication and information procurement. Design fictions provide a way of exposing the locals to possible digital futures so that they can actively engage with them and explore the bounds and confines of their literacy and the extent to which it matters. [ABSTRACT FROM AUTHOR]

After decades of research and development, haptic feedback is increasingly appearing in consumer products. While the prevalence of haptic feedback is increasing, the integration rarely offers increased fidelity to previous generations. We argue this is because of the tremendous complexity of successful haptic design engineering, but critically, also because of information saturation. With novel cutaneous feedback technologies and companies emerging almost daily, the multi-disciplinary nature of haptics and the marketing-driven terminology used to stand out in a crowded market makes it challenging to select and integrate actuators correctly. To manage this complexity and facilitate the interdisciplinary exchange of user requirements and material affordances, we introduce a novel classification criterion for haptic actuators focused on the bandwidth and fidelity of potential effects. We introduce vocabulary for describing the precise experience the actuators and corresponding systems should deliver. Lastly, we summarize currently commercially available cutaneous-based haptic technology. In the nearby future, the same criterion and language can also prove valuable for steering technology development of new and improved actuators and enabling novice and experienced practitioners to understand and integrate cutaneous feedback in their products. [ABSTRACT FROM AUTHOR]

This study describes a new method for gripping and sensing a physical object (or material) with a prosthetic arm that uses haptic technologies, kinaesthetic communication, and machine learning. Haptic technology is a method of determining if an object is firm or soft as if it were gripped by a human and determining how much gripping force the object can withstand without crushing it. The bending moment and gripping force are measured using a flex sensor in human fingers and a pressure sensor applied by the tip of the human fingers. Three different types of objects (soft sponge, hard sponge, and plastic) are studied and tested in this work by pressing them with varying gripping pressures (soft, firm, and firmer). In addition, a model (Haptic Intelligence Recorder arm) is proposed that can anticipate the object type and gripping force based on the recorded intelligence data. The major goal is to educate our prosthetic hand to be able to grip various items with varying finger pressures, much like we can do naturally. Finally, a glove is created that is tailored to the intelligence arm's ability to anticipate grabbing items. [ABSTRACT FROM AUTHOR]

Tram drivers operate a master controller to control the acceleration and braking of the tram. Operation should ensure passenger comfort and safety through smooth tram motion and the avoidance of jerkiness that may cause passengers to fall in the carriage. This work investigates current driver practices and strategies for tram driving in normal operations through interviews and the capacity of a new haptic master controller to support drivers in achieving smooth and safe tram journeys. A haptic feedback algorithm based on viscosity was implemented on the master controller to provide drivers with feedback on the rate at which they were accelerating and braking the tram. This aspect was tested in a virtual tram within a simulated inner city virtual reality environment. Results indicate that the haptic master controller and coupled viscosity feedback algorithm did not increase smoothness of driving during the simulated experiences. Despite this, the drivers indicated a preference for the provision of further haptic information to support driving tasks and the overall journey safety and smoothness. Practitioner Summary: This research comprises two studies. The first investigates strategies currently used by drivers to operate a tram smoothly in order to elicit design requirements for a haptic tram master controller. The second study evaluates the impact of a novel haptic master controller on journey smoothness within a virtual environment. [ABSTRACT FROM AUTHOR]

Robotic surgery, known for its minimally invasive techniques and computer-controlled robotic arms, has revolutionized modern medicine by providing improved dexterity, visualization, and tremor reduction compared to traditional methods. The integration of artificial intelligence (AI) into robotic surgery has further advanced surgical precision, efficiency, and accessibility. This paper examines the current landscape of AI-driven robotic surgical systems, detailing their benefits, limitations, and future prospects. Initially, AI applications in robotic surgery focused on automating tasks like suturing and tissue dissection to enhance consistency and reduce surgeon workload. Present AI-driven systems incorporate functionalities such as image recognition, motion control, and haptic feedback, allowing real-time analysis of surgical field images and optimizing instrument movements for surgeons. The advantages of AI integration include enhanced precision, reduced surgeon fatigue, and improved safety. However, challenges such as high development costs, reliance on data quality, and ethical concerns about autonomy and liability hinder widespread adoption. Regulatory hurdles and workflow integration also present obstacles. Future directions for AI integration in robotic surgery include enhancing autonomy, personalizing surgical approaches, and refining surgical training through AI-powered simulations and virtual reality. Overall, AI integration holds promise for advancing surgical care, with potential benefits including improved patient outcomes and increased access to specialized expertise. Addressing challenges and promoting responsible adoption are essential for realizing the full potential of AI-driven robotic surgery., Competing Interests: The authors declare no conflicts of interest.Sponsorships or competing interests that may be relevant to content are disclosed at the end of this article., (Copyright © 2024 The Author(s). Published by Wolters Kluwer Health, Inc.)

Previous work has suggested a different developmental timeline and role of visual experience for the use of spatial and non-spatial features in haptic object recognition. To investigate this conjecture, we used a haptic ambiguous odd-one-out task in which one object needed to be selected as being different from two other objects. The odd-one-out could be selected based on four characteristics: size, shape (spatial), texture, and weight (non-spatial). We tested sighted children from 4 to 12 years of age; congenitally blind, late blind, and adult participants with low vision; and normally sighted adults. Given the protracted developmental time course for spatial perception, we expected a shift from a preference for non-spatial features toward spatial features during typical development. Due to the dominant influence of vision for spatial perception, we expected congenitally blind adults to show a similar preference for non-spatial features as the youngest children. The results confirmed our first hypothesis; the 4-year-olds demonstrated a lower dominance for spatial features for object classification compared with older children and sighted adults. In contrast, our second hypothesis was not confirmed; congenitally blind adults' preferred categorization criteria were indistinguishable from those of sighted controls. These findings suggest an early development, but late maturation, of spatial processing in haptic object recognition independent of visual experience., (Copyright © 2024 The Author(s). Published by Elsevier Inc. All rights reserved.)

Diagnostics of a hand requires measurements of kinematics and joint limits. The standard tools for this purpose are manual devices such as goniometers which allow measuring only one joint simultaneously, making the diagnostics time-consuming. The paper presents a system for automatic measurement and computer presentation of essential parameters of a hand. Constructed software uses an integrated vision system, a haptic device for measurement, and has a web-based user interface. The system provides a simplified way to obtain hand parameters, such as hand size, wrist, and finger range of motions, using the homogeneous-matrix-based notation. The haptic device allows for active measurement of the wrist’s range of motion and additional force measurement. A study was conducted to determine the accuracy and repeatability of measurements compared to the gold standard. The system functionality was confirmed on five healthy participants, with results showing comparable results to manual measurements regarding fingers’ lengths. The study showed that the finger’s basic kinematic structure could be measured by a vision system with a mean difference to caliper measurement of 4.5 mm and repeatability with the Standard Deviations up to 0.7 mm. Joint angle limits measurement achieved poorer results with a mean difference to goniometer of 23.6º. Force measurements taken by the haptic device showed the repeatability with a Standard Deviation of 0.7 N. The presented system allows for a unified measurement and a collection of important parameters of a human hand with therapist interface visualization and control with potential use for post-stroke patients’ precise rehabilitation.

Sound-shape correspondence refers to the preferential mapping of information across the senses, such as associating a nonsense word like bouba with rounded abstract shapes and kiki with spiky abstract shapes. Here we focused on audio-tactile (AT) sound-shape correspondences between nonsense words and abstract shapes that are felt but not seen. Despite previous research indicating a role for visual experience in establishing AT associations, it remains unclear how visual experience facilitates AT correspondences. Here we investigated one hypothesis: seeing the abstract shapes improve haptic exploration by (a) increasing effective haptic strategies and/or (b) decreasing ineffective haptic strategies. We analyzed five haptic strategies in video-recordings of 6- to 8-year-old children obtained in a previous study. We found the dominant strategy used to explore shapes differed based on visual experience. Effective strategies, which provide information about shape, were dominant in participants with prior visual experience, whereas ineffective strategies, which do not provide information about shape, were dominant in participants without prior visual experience. With prior visual experience, poking-an effective and efficient strategy-was dominant, whereas without prior visual experience, uncategorizable and ineffective strategies were dominant. These findings suggest that prior visual experience of abstract shapes in 6- to 8-year-olds can increase the effectiveness and efficiency of haptic exploration, potentially explaining why prior visual experience can increase the strength of AT sound-shape correspondences., (Copyright © 2023 Elsevier Inc. All rights reserved.)

Spatial search tasks are common and crucial in many Virtual Reality (VR) applications. Traditional methods to enhance the performance of spatial search often employ sensory cues such as visual, auditory, or haptic feedback. However, the design and use of bimanual haptic feedback with two VR controllers for spatial search in VR remains largely unexplored. In this work, we explored bimanual haptic feedback with various combinations of haptic properties, where four types of bimanual haptic feedback were designed, for spatial search tasks in VR. Two experiments were designed to evaluate the effectiveness of bimanual haptic feedback on spatial direction guidance and search in VR. The results from the first experiment reveal that our proposed bimanual haptic schemes significantly enhanced the recognition of spatial directions in terms of accuracy and speed compared to spatial audio feedback. The second experiment's findings suggest that the performance of bimanual haptic feedback was comparable to or even better than the visual arrow, especially in reducing the angle of head movement and enhancing searching targets behind the participants, which was supported by subjective feedback as well. Based on these findings, we have derived a set of design recommendations for spatial search using bimanual haptic feedback in VR.

Physical QWERTY keyboards are the current standard for performing precision text-entry with extended reality devices. Ideally, there would exist a comparable, self-contained solution that works anywhere, without requiring external keyboards. Unfortunately, when physical keyboards are recreated virtually, we currently lose critical haptic feedback information from the sense of touch, which impedes typing. In this paper, we introduce the MusiKeys Technique, which uses auditory feedback in virtual reality to communicate missing haptic feedback information typists normally receive when using a physical keyboard. To examine this concept, we conducted a user study with 24 participants which encompassed four mid-air virtual keyboards augmented with increasing amounts of feedback information, along with a fifth physical keyboard for reference. Results suggest that providing clicking feedback on key-press and key-release improves typing performance compared to not providing auditory feedback, which is consistent with the literature. We also found that audio can serve as a substitute for information contained in haptic feedback, in that users can accurately perceive the presented information. However, under our specific study conditions, this awareness of the feedback information did not yield significant differences in typing performance. Our results suggest this kind of feedback replacement can be perceived by users but needs more research to tune and improve the specific techniques.

Geometrical knowledge is typically taught to children through a combination of vision and repetitive drawing (i.e. haptics), yet our understanding of how different spatial senses contribute to geometric perception during childhood is poor. Studies of line orientation suggest a dominant role of vision affecting the calibration of haptics during development; however, the associated multisensory interactions underpinning angle perception are unknown. Here we examined visual, haptic, and bimodal perception of angles across three age groups of children: 6 to 8 years, 8 to 10 years, and 10 to 12 years, with age categories also representing their class (grade) in primary school. All participants first learned an angular shape, presented dynamically, in one of three sensory tracing conditions: visual only, haptic only, or bimodal exploration. At test, which was visual only, participants selected a target angle from four possible alternatives with distractor angle sizes varying relative to the target angle size. We found a clear improvement in accuracy of angle perception with development for all learning modalities. Angle perception in the youngest group was equally poor (but above chance) for all modalities; however, for the two older child groups, visual learning was better than haptics. Haptic perception did not improve to the level of vision with age (even in a comparison adult group), and we found no specific benefit for bimodal learning over visual learning in any age group, including adults. Our results support a developmental increment in both spatial accuracy and precision in all modalities, which was greater in vision than in haptics, and are consistent with previous accounts of cross-sensory calibration in the perception of geometric forms., (Copyright © 2024 The Authors. Published by Elsevier Inc. All rights reserved.)

The inferior alveolar nerve block (IANB) is a dental anesthetic injection that is critical to the performance of many dental procedures. Dental students typically learn to administer an IANB through videos and practice on silicone molds and, in many dental schools, on other students. This causes significant stress for both the students and their early patients. To reduce discomfort and improve clinical outcomes, we created an anatomically informed virtual reality headset-based educational system for the IANB. It combines a layered 3D anatomical model, dynamic visual guidance for syringe position and orientation, and active force feedback to emulate syringe interaction with tissue. A companion mobile augmented reality application allows students to step through a visualization of the procedure on a phone or tablet. We conducted a user study to determine the advantages of preclinical training with our IANB simulator. We found that in comparison to dental students who were exposed only to traditional supplementary study materials, dental students who used our IANB simulator were more confident administering their first clinical injections, had less need for syringe readjustments, and had greater success in numbing patients.

Current accounts of behavioral and neurocognitive correlates of plasticity in blindness are just beginning to incorporate the role of speech and verbal production. We assessed Vygotsky/Luria's speech mediation hypothesis, according to which speech activity can become a mediating tool for perception of complex stimuli, specifically, for encoding tactual/haptic spatial patterns which convey pictorial information (haptic pictures). We compared verbalization in congenitally totally blind (CTB) and age-matched sighted but visually impaired (VI) children during a haptic picture naming task which included two repeated, test-retest, identifications. The children were instructed to explore 10 haptic schematic pictures of objects (e.g., cup) and body parts (e.g., face) and provide (without experimenter's feedback) their typical name. Children's explorations and verbalizations were videorecorded and transcribed into audio segments. Using the Computerized Analysis of Language (CLAN) program, we extracted several measurements from the observed verbalizations, including number of utterances and words, utterance/word duration, and exploration time. Using the Word2Vec natural language processing technique we operationalized semantic content from the relative distances between the names provided. Furthermore, we conducted an observational content analysis in which three judges categorized verbalizations according to a rating scale assessing verbalization content. Results consistently indicated across all measures that the CTB children were faster and semantically more precise than their VI counterparts in the first identification test, however, the VI children reached the same level of precision and speed as the CTB children at retest. Overall, the task was harder for the VI group. Consistent with current neuroscience literature, the prominent role of speech in CTB and VI children's data suggests that an underlying cross-modal involvement of integrated brain networks, notably associated with Broca's network, likely also influenced by Braille, could play a key role in compensatory plasticity via the mediational mechanism postulated by Luria., (Copyright © 2024 The Author(s). Published by Elsevier Ltd.. All rights reserved.)

Purpose: To verify the usefulness of haptic feedback in telesurgery and improve the safety of telerobotic surgery., Methods: The surgeon's console was installed at two sites (Fukuoka and Beppu; 140 km apart), and the patient cart was installed in Fukuoka. During the experiment, the surgeon was blinded to the haptic feedback levels and asked to grasp the intestinal tract in an animal model. The surgeon then performed the tasks at each location., Results: No marked differences in task accuracy or average grasping force were observed between the surgeon locations. However, the average task completion time was significantly longer, and the system usability scale (SUS) was significantly lower rating for remote operations than for local ones. No marked differences in task accuracy or task completion time were observed between the haptic feedback levels. However, with haptic feedback, the organ was grasped with a significantly weaker force than that without it. Furthermore, with haptic feedback, experienced surgeons in robotic surgery tended to perform an equivalent task with weaker grasping forces than inexperienced surgeons., Conclusion: The haptic feedback function is a tool that allows the surgeon to perform surgery with an appropriate grasping force, both on site and remotely. Improved safety is necessary in telesurgery; haptic feedback will thus be an essential technology in robotic telesurgery going forward., (© 2023. The Author(s) under exclusive licence to Springer Nature Singapore Pte Ltd.)

Abstract: Clinical touch is the cornerstone of the doctor-patient relationship and can impact patient experience and outcomes. In the current era, driven by an ever-increasing infusion of point-of-care technologies, physical exam skills have become undervalued. Moreover, touch and hands-on skills have been difficult to teach due to inaccurate assessments and difficulty with learning transfer through observation. In this article, the authors argue that haptics, the science of touch, provides a unique opportunity to explore new pathways to facilitate touch training. Furthermore, haptics can dramatically increase the density of touch-based assessments without increasing human rater burden-essential for realizing precision assessment. The science of haptics is reviewed, including the benefits of using haptics-informed language for objective structured clinical examinations. The authors describe how haptic devices and haptic language have and can be used to facilitate learning, communication, documentation and a much-needed reinvigoration of physical examination, and touch excellence at the point of care. The synergy of haptic devices, artificial intelligence, and virtual reality environments are discussed. The authors conclude with challenges of scaling haptic technology in medical education, such as cost and translational needs, and opportunities to achieve wider adoption of this transformative approach to precision education., (Copyright © 2023 the Association of American Medical Colleges.)