IROS 2015 Paper Abstract


Paper ThAP.70

Chen, Daniel Kuan Yu (Biomimetics Laboratory, Auckland Bioengineering Institute, the U), Xu, Junkai (Shanghai Jiao Tong University), Shull, Peter B. (Shanghai Jiao Tong University), Anderson, Iain (The University of Auckland), Besier, Thor F. (Auckland Bioengineering Institute)

Lower Extremity Tactile Apparent Movement Perception During Standing and Walking

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Haptics and Haptic Interfaces, Human-Robot Interaction, Physical Human-Robot Interaction


Wearable haptic technology has been shown to be effective in the areas of motion training and rehabilitation. One challenge for retraining multiple gait parameters is the ability to provide intuitive tactile feedback during walking. New feedback modalities, distinguishable from standard vibration feedback therefore need to be explored. Experiments were conducted to explore the use of tactile apparent movement on the lower extremity and its feasibility as a feedback modality. Optimal stimulus duration and inter-stimulus onset interval (ISOI) combinations were determined for a device containing four vibration actuators. The mean ISOIs at six different stimulus durations (100, 120, 140, 160, 180, and 200 ms) were determined during standing and walking trials. These mean values were then presented to the subjects’ as stimuli, measuring the subjects’ left and right perception accuracy and response times when those stimuli were presented in a randomised trial during standing and walking. In general, higher accuracy and quicker response times came from stimuli combinations at longer stimulus durations and when subjects were standing compared with walking. The effect of increasing the stimulus duration had a much more pronounced impact on the accuracy and response times when the subjects were walking. The findings of this study show that it is possible to use tactile apparent movement on the lower extremities as a feedback modality during walking by using the optimal stimulus duration and ISOI of 200 and 101 ms, which yielded a mean accuracy and response time of 93% and 1667 ms respectively.



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