This paper presents how humans trained in primitive hap- tic based patterns using a wearable sleeve, can recognize their scaling and shifting. The wearable sleeve consisted of 7 vibro-actuators to stimulate subjects arm to convey the primitive haptic based patterns. The used primitive haptic patterns are the Gaussian template (T), shifted right (R), shifted left (L), half Gaussian (H), and shrink (S) hereafter denoted by templates. The results of this paper would give an idea as to how humans mentally construct the cutaneous feedback in different scenarios such as shifting and scaling with respect to trained patterns and how they recognize all trained patterns when played randomly. These insights will help to develop more e�efficient haptic feedback systems us- ing a small number of templates to be learnt to encode complex haptic messages. Therefore, the results provide new insights and design guide- lines/algorithm to convey messages encoded in vibro-tactile actuator arrays specially in where vision and audition are less reliable scenarios like search and rescue, factories. For example, the results would be used to convey a message to the human to give an idea of the shape and stiffness of obstacles that come into contact with the robot during haptic based guiding in low visibility conditions in human-robot interactions.
展开▼
