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Haptic force feedback systems are unique in their ability to dynamically render physical representations. Although haptic devices have shown promise for supporting learning, prior work mainly describes results of haptic-supported learning without identifying underlying learning mechanisms. To this end, we designed a haptic-supported learning environment and analyzed four students who used it to make connections between two different mathematical representations of sine and cosine: the unit circle, and their graph on the Cartesian plane. We highlight moments where students made connections between the representations, and identify how the haptic feedback supported these moments of insight. We use this evidence in support of a proposed theoretical and design framework for educational haptics. This framework captures four types of haptic representations, and focuses on one -- the haptic bridge -- that effectively scaffolds sense-making with multiple representations.
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Gait Sensing and Haptic Feedback Using an Inflatable Soft Haptic Sensor
Abstract Collecting gait data and providing haptic feedback are essential for the safety and efficiency of robot-based rehabilitation. However, readily available devices that can perform both are scarce. This work presents a novel method for mutual sensing and haptic feedback, through the development of an inflatable soft haptic sensor (ISHASE). The design, modeling, and characterization of ISHASE are discussed. Four ISHASEs are embedded in the insole of a shoe to measure ground reaction forces and provide haptic feedback. Four participants were recruited to evaluate the performance of ISHASE as a sensor and haptic device. Experimental results indicate that ISHASE can accurately estimate user’s ground reaction forces while walking, with a maximum and a minimum accuracy of 91% and 85%, respectively. Haptic feedback was delivered to four different locations under the foot, and users could identify the location with an average 92% accuracy. A case study that exemplifies a rehabilitation scenario is presented to demonstrate ISHASE’s usefulness for mutual sensing and haptic feedback.
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- Award ID(s):
- 1828010
- PAR ID:
- 10514454
- Publisher / Repository:
- American Society of Mechanical Engineers Digital Collection
- Date Published:
- Journal Name:
- ASME Letters in Dynamic Systems and Control
- Volume:
- 4
- Issue:
- 1
- ISSN:
- 2689-6117
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1115/1.4064377
