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1. A Framework for Dyadic Physical Interaction Studies during Ankle Motor Tasks

   https://doi.org/10.1109/LRA.2021.3092265  

   Kim, Sangjoon J; Wen, Yue; Kucuktabak, Emek Baris; Zhan, Shaobo; Lynch, Kevin; Hargrove, Levi; Perreault, Eric; Pons, Jose L (June 2021, IEEE robotics automation letters)

   null (Ed.)

   Over the past few decades, there have been many studies of human-human physical interaction to better understand why humans physically interact so effectively and how dyads outperform individuals in certain motor tasks. Because of the different methodologies and experimental setups in these studies, however, it is difficult to draw general conclusions as to the reasons for this improved performance. In this study, we propose an open-source experimental framework for the systematic study of the effect of human-human interaction, as mediated by robots, at the ankle joint. We also propose a new framework to study various interactive behaviors (i.e., collaborative, cooperative, and competitive tasks) that can be emulated using a virtual spring connecting human pairs. To validate the proposed experimental framework, we perform a transparency analysis, which is closely related to haptic rendering performance. We compare muscle EMG and ankle motion data while subjects are barefoot, attached to the unpowered robot, and attached to the powered robot implementing transparency control. We also validate the performance in rendering a virtual springs covering a range of stiffness values (5-50 Nm/rad) while the subjects track several desired trajectories(sine waves at frequencies between 0.1 and 1.1 Hz). Finally, we study the performance of the system in human-human interaction under nine different interactive conditions. Finally, we demonstrate the feasibility of the system in studying human-human interaction under different interactive behaviors. 

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2. Wrapped Haptic Display for Communicating Physical Robot Learning

   https://doi.org/10.1109/ROBOSOFT54090.2022.9762210  

   Valdivia, Antonio Alvarez; Shailly, Ritish; Seth, Naman; Fuentes, Francesco; Losey, Dylan P.; Blumenschein, Laura H. (April 2022, 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft))

   Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the robot learns, it is equally important that this learning is transparent to the human teacher. Visual displays that show the robot’s uncertainty can potentially communicate this information; however, we hypothesize that visual feedback mechanisms miss out on the physical connection between the human and robot. In this work we present a soft haptic display that wraps around and conforms to the surface of a robot arm, adding a haptic signal at an existing point of contact without significantly affecting the interaction. We demonstrate how soft actuation creates a salient haptic signal while still allowing flexibility in device mounting. Using a psychophysics experiment, we show that users can accurately distinguish inflation levels of the wrapped display with an average Weber fraction of 11.4%. When we place the wrapped display around the arm of a robotic manipulator, users are able to interpret and leverage the haptic signal in sample robot learning tasks, improving identification of areas where the robot needs more training and enabling the user to provide better demonstrations. See videos of our device and user studies here: https://youtu.be/tX-2Tqeb9Nw 

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3. A tangible manipulative for inclusive quadrilateral learning

   Lambert, S. G. (January 2022, Journal on technology and persons with disabilities)

   Over the last decade, extensive growth in digital educational content has opened up new opportunities for teaching and learning. Despite such advancements, digital learning experiences often omit one ofour richest and earliest learning modalities - touch. This lack of haptic (touch) interaction creates a growing gap in supporting inclusive, embodied learning experiences digitally. Our research centers on the development ofinclusive learning tools that can flexibly adapt for use in different learning contexts to support learners with a wide range of needs, co-designed with students with disabilities. In this paper, we focus on the development of a tangible device for geometry learning - the Tangible Manipulative for Quadrilaterals (TMQ). We detail the design evolution of the TMQ and present two user studies investigating the affordances o ft h eI M and the user strategies employed when explored in isolation and in tandem with a two-dimensional touchscreen-based rendering ofa quadrilateral. Findings illustrate the affordances of the I M Oo v e r traditional, static media and its ability to serve as an inclusive geometry learning tool. 

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4. Sensory manipulation as a countermeasure to robot teleoperation delays: system and evidence

   https://doi.org/10.1038/s41598-024-54734-1  

   Du, Jing; Vann, William; Zhou, Tianyu; Ye, Yang; Zhu, Qi (February 2024, Scientific Reports)

   Abstract In the realm of robotics and automation, robot teleoperation, which facilitates human–machine interaction in distant or hazardous settings, has surged in significance. A persistent issue in this domain is the delays between command issuance and action execution, causing negative repercussions on operator situational awareness, performance, and cognitive load. These delays, particularly in long-distance operations, are difficult to mitigate even with the most advanced computing advancements. Current solutions mainly revolve around machine-based adjustments to combat these delays. However, a notable lacuna remains in harnessing human perceptions for an enhanced subjective teleoperation experience. This paper introduces a novel approach of sensory manipulation for induced human adaptation in delayed teleoperation. Drawing from motor learning and rehabilitation principles, it is posited that strategic sensory manipulation, via altered sensory stimuli, can mitigate the subjective feeling of these delays. The focus is not on introducing new skills or adapting to novel conditions; rather, it leverages prior motor coordination experience in the context of delays. The objective is to reduce the need for extensive training or sophisticated automation designs. A human-centered experiment involving 41 participants was conducted to examine the effects of modified haptic cues in teleoperations with delays. These cues were generated from high-fidelity physics engines using parameters from robot-end sensors or physics engine simulations. The results underscored several benefits, notably the considerable reduction in task time and enhanced user perceptions about visual delays. Real-time haptic feedback, or the anchoring method, emerged as a significant contributor to these benefits, showcasing reduced cognitive load, bolstered self-confidence, and minimized frustration. Beyond the prevalent methods of automation design and training, this research underscores induced human adaptation as a pivotal avenue in robot teleoperation. It seeks to enhance teleoperation efficacy through rapid human adaptation, offering insights beyond just optimizing robotic systems for delay compensations. 

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5. Prefatory study of the effects of exploration dynamics on stiffness perception

   https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.31.f7ecf8e2  

   Singhala, Mohit; Brown, Jeremy D. (January 2020, 2020 IEEE Haptics Symposium)

   null (Ed.)

   The utility of telerobotic systems is driven in large part by the quality of feedback they provide to the operator. While the dynamic interaction between a robot and the environment can often be sensed or modeled, the dynamic coupling at the human-robot interface is often overlooked. Improving dexterous manipulation through telerobots will require careful consideration of human haptic perception as it relates to human exploration dynamics at the telerobotic interface. In this manuscript, we use exploration velocity as a means of controlling the operator's exploration dynamics, and present results from two stiffness discrimination experiments designed to investigate the effects of exploration velocity on stiffness perception. The results indicate that stiffness percepts vary differently for different exploration velocities on an individual level, however, no consistent trends were found across all participants. These results suggest that exploration dynamics can affect the quality of haptic interactions through telerobotic interfaces, and also reflect the need to study the underlying mechanisms that cause our perception to vary with our choice of exploration strategy. 

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