Search Results (778)

Medical palpation is a task that traditionally requires a skilled practitioner to assess and diagnose a patient through direct touch and manipulation of their body. In regions with a shortage of such professionals, robotic hands or sensorized gloves could potentially capture the necessary haptic information during palpation exams and relay it to medical doctors for diagnosis. From an engineering perspective, a comprehensive understanding of the relevant motions and forces is essential for designing haptic technologies capable of fully capturing this information. This study focuses on thyroid examination palpation, aiming to analyze the hand motions and forces applied to the patient’s skin during the procedure. We identified key palpation techniques through video recordings and interviews and measured the force characteristics during palpation performed by both non-medical participants and medical professionals. Our findings revealed five primary palpation hand motions and characterized the multi-dimensional interaction forces involved in these motions. These insights provide critical design guidelines for developing haptic sensing and display technologies optimized for remote thyroid nodule palpation and diagnosis. Full article

Road safety for vulnerable road users, particularly cyclists, remains a critical global issue. This study explores the potential of multimodal visual and haptic interaction technologies to improve cyclists’ perception of and responsiveness to their surroundings. Through a systematic evaluation of various visual displays and Haptic Feedback mechanisms, this research aims to identify effective strategies for recognizing and localizing potential traffic hazards. Study 1 examines the design and effectiveness of Visual Feedback, focusing on factors such as feedback type, traffic scenarios, and target locations. Study 2 investigates the integration of Haptic Feedback through wearable vests to enhance cyclists’ awareness of peripheral vehicular activities. By conducting experiments in realistic traffic conditions, this research seeks to develop safety systems that are intuitive, cognitively efficient, and tailored to the needs of diverse user groups. This work advances multimodal interaction design for road safety and aims to contribute to a global reduction in traffic incidents involving vulnerable road users. The findings offer empirical insights for designing effective assistance systems for cyclists and other non-motorized vehicle users, thereby ensuring their safety within complex traffic environments. Full article

Thermal technologies that effectively deliver thermal stimulation through skin-integrated systems and enable temperature perception via the activation of cutaneous thermoreceptors are key to enhancing immersive experiences in virtual and augmented reality (VR/AR) through multisensory engagement. However, recent advancements and commercial adoption have predominantly focused on haptic rather than thermal technology. This review provides an overview of recent advancements in wearable thermal devices (WTDs) designed to reconstruct artificial thermal sensations for VR/AR applications. It examines key thermal stimulation parameters, including stimulation area, magnitude, and duration, with a focus on thermal perception mechanisms and thermoreceptor distribution in the skin. Input power requirements for surpassing thermal perception thresholds are discussed based on analytical modeling. Material choices for WTDs, including metal nanowires, carbon nanotubes, liquid metals, thermoelectric devices, and passive cooling elements, are introduced. The functionalities, device designs, operation modes, fabrication processes, and electrical and mechanical properties of various WTDs are analyzed. Representative applications illustrate how flexible, thin WTDs enable immersive VR/AR experiences through spatiotemporal, programmable stimulation. A concluding section summarizes key challenges and future opportunities in advancing skin–integrated VR/AR systems. Full article

The present study investigates the extent to which the use of Merge Cubes as haptic AR tools in the classroom—realized in construction technology lessons at a vocational college as an exemplary case—influences the cognitive load and motivation of learners. A quasi-experimental field study was conducted using a questionnaire in a pre-post design including a control group at a vocational college in Germany (North Rhine-Westphalia). During the intervention phase, the students in the experimental group worked with materials such as textbooks and worksheets that were specifically expanded to include the Merge Cube AR learning tool, while the students in the control group only used conventional learning materials. In both the pre- and post-test, the cognitive load and motivation of the learners were recorded using questionnaires. The results indicate that the use of Merge Cubes can reduce cognitive load: the extraneous cognitive load of the experimental group decreased over the course of the intervention, whereas that for the control group increased significantly in comparison. In addition, the germane cognitive load increased slightly in the experimental group, whereas that for the control group decreased. With regard to the intrinsic motivation of the learners, both groups recorded an increase, although the difference between the two groups was not significant. Based on these results, further factors influencing the effect on learning and implications for the practical use of the Merge Cube in the classroom are discussed, the concrete validation of which requires further research. Full article

Robot-assisted minimally invasive surgery offers advantages over traditional laparoscopic surgery, including precision and improved patient outcomes. However, its complexity requires extensive training, leading to the development of simulators that still face challenges such as limited feedback and lack of realism. This study presents an augmented reality-based surgical simulator tailored for minimally invasive pancreatic surgery, integrating an innovative parallel robot, real-time AI-driven force estimation, and haptic feedback. Using Unity and the HoloLens 2, the simulator offers a realistic augmented environment, enhancing spatial awareness and planning in surgical scenarios. A convolutional neural network (CNN) model predicts forces without physical sensors, achieving a mean absolute error of 0.0244 N. Tests indicate a strong correlation between applied and predicted forces, with a haptic feedback latency of 65 ms, suitable for real-time applications. Its modularity makes the simulator accessible for training and preoperative planning, addressing gaps in current robotic surgery training tools while setting the stage for future improvements and broader integration. Full article

Human–machine interfacing (HMI) has emerged as a critical technology in healthcare, robotics, and wearable electronics, with hydrogels offering unique advantages as multifunctional materials that seamlessly connect biological systems with electronic devices. This review provides a detailed examination of recent advancements in hydrogel design, focusing on their properties and potential applications in HMI. We explore the key characteristics such as biocompatibility, mechanical flexibility, and responsiveness, which are essential for effective and long-term integration with biological tissues. Additionally, we highlight innovations in conductive hydrogels, hybrid and composite materials, and fabrication techniques such as 3D/4D printing, which allow for the customization of hydrogel properties to meet the demands of specific HMI applications. Further, we discuss the diverse classes of polymers that contribute to hydrogel conductivity, including conducting, natural, synthetic, and hybrid polymers, emphasizing their role in enhancing electrical performance and mechanical adaptability. In addition to material design, we examine the regulatory landscape governing hydrogel-based biointerfaces for HMI applications, addressing the key considerations for clinical translation and commercialization. An analysis of the patent landscape provides insights into emerging trends and innovations shaping the future of hydrogel technologies in human–machine interactions. The review also covers a range of applications, including wearable electronics, neural interfaces, soft robotics, and haptic systems, where hydrogels play a transformative role in enhancing human–machine interactions. Thereafter, the review addresses the challenges hydrogels face in HMI applications, including issues related to stability, biocompatibility, and scalability, while offering future perspectives on the continued evolution of hydrogel-based systems for HMI technologies. Full article

Background: Motor learning can occur through active reaching with the arm hidden from view, leading to improvements in somatosensory acuity and modulation of functional connectivity in sensorimotor and reward networks. In this proof-of-principle study, we assess if the same paradigm benefits stroke survivors using a compact end-effector robot with integrated gaming elements. Methods: Nine community-dwelling chronic hemiplegic stroke survivors with persistent somatosensory deficits participated in 15 training sessions, each lasting 1 h. Every session comprised a robotic-based joint approximation block, followed by 240 repetitions of training using a forward-reaching task with the affected forearm covered from view. During movement, the robot provided haptic guidance along the movement path as enhanced sensory cues. Augmented reward feedback was given following every successful movement as positive reinforcement. Baseline, postintervention, and 1-month follow-up assessments were conducted, with the latter two sessions occurring after the final training day. Results: Training led to reliable improvements in endpoint accuracy, faster completion times, and smoother movements. Acceptability and feasibility analyses were performed to understand the viability of the intervention. Significant improvement was observed mainly in robotic-based sensory outcomes up to a month post training, suggesting that training effects were predominantly sensory, rather than motor. Conclusions: The study outcomes provide preliminary evidence supporting the feasibility of this intervention for future adoption in neurorehabilitation. Full article

With an increasing number of elderly individuals, the demand for advanced technologies to treat cardiac diseases has become more critical than ever. Additionally, there is a pressing need to reduce the learning curve for cardiac interventionalists to keep pace with the rapid development of new types of procedures and devices and to expand the adoption of established procedures in more hospitals. This comprehensive review aims to shed light on recent advancements in novel robotic systems for cardiac interventions. To do so, this review provides a brief overview of the history of previously developed robotic systems and describes the necessity for advanced technologies for cardiac interventions to address the technological limitations of current systems. Moreover, this review explores the potential of cutting-edge technologies and methods in developing the next generation of intra-procedure autonomous navigation. Each highlighted topic undergoes a critical analysis to evaluate its technical limitations and the challenges that must be addressed for successful clinical implementation. Full article

This paper presents the development of “MateREAL Touch”, a tactile display system that reproduces the sensation of stroking various material textures. The system can store up to 30 samples of material, which are connected via a continuous piece of tape. When not touching, the material switches seamlessly, and the tape moves in sync with the user’s finger, dynamically replicating the feeling of stroking. Additionally, the device simulates transitions between contact and non-contact states by adjusting the grip mechanism based on virtual interactions. As fundamental performance assessments, the material’s switching time was measured. In addition, a discrimination task compared users’ ability to distinguish eight materials under static and dynamic touch conditions in both real and virtual environments. The results showed comparable discrimination accuracy, demonstrating the effectiveness of the system in reproducing real-world material textures in VR. These findings confirm the system’s ability to enable realistic texture perception in virtual environments. Full article

The purpose of this paper is to provide researchers with a description of a data library representing human interaction with medium- to large-sized objects in everyday life. The library includes motion capture data characterizing human and object motion, as well as data for characterizing haptic interaction with the object via force and torque measurements via a load cell and inertial measurement unit (IMU) readings of the object accelerations. Objects include a box, luggage, briefcase, walker, shopping cart, wheelbarrow, and door. The data collected includes multiple types of interactions with each object, such as manipulating the object and walking while interacting with the object (e.g., pulling, pushing, carrying, operating, etc.). Data processing techniques for synchronizing data, deriving human biomechanics, and segmenting trials are presented. Examples of how the data in the library can be manipulated and processed further are provided. This includes combining ten wheelbarrow lifts of one subject together and analyzing the knee motion, object acceleration, and load cell readings (force and torque) with mean trajectories and standard deviations of the trajectories. From there, the range of motion can be extracted, such as for the hip, knee, and ankle joint minimum angles, maximum angles, and range of motion. A comparison of walking with and without a wheelbarrow is presented using spatiotemporal parameters and cyclograms to demonstrate their differences. The database is available on AddBiomechanics, SimTK, and GitHub. Full article

This study investigated the role of haptic feedback in precision peg insertion tasks conducted via teleoperation under varying visual resolution and communication latency conditions. Experiment 1 examined the combined effects of haptic feedback and the visual resolution, revealing that haptic feedback significantly reduces the maximum normal force and mental workload, while enhancing subjective operability, particularly in low-visual-resolution conditions. Experiment 2 evaluated the impact of communication latency, showing that the maximum normal force, operability, and mental workload are affected by increased latency. Notably, the maximum normal force is sensitive even to minimal latency (100 ms), whereas the mental workload and operability remain acceptable under lower-latency conditions. These findings underscore the importance of multi-metric evaluations, as different aspects of performance respond differently to latency. Overall, the results demonstrate the critical role of haptic feedback in enhancing task performance and the user experience in teleoperated precision tasks, offering valuable insights for the design and development of more effective and user-friendly teleoperation systems. Full article

Background/Objectives: this study aims to assess the safety of ciliary sulcus-placed hydrophilic acrylic intraocular lenses (IOLs). Methods: In this retrospective cohort study, consecutive patients who underwent phacoemulsification with implantation of IOLs into the ciliary sulcus without suture fixation between 2014 and 2016 at the Meir Medical Center were included. Clinical outcomes were compared between one-piece (1P) hydrophilic acrylic IOLs (Seelens AF, Hanita Lenses, Kibbutz Hanita, Israel) and three-piece hydrophobic acrylic IOLs with PMMA haptics (3P) (MA60AC, Alcon Laboratories, USA). Results: Thirty-eight eyes met the inclusion criteria and had ciliary sulcus IOLs implanted, twenty-three eyes with 1P hydrophilic (60.52%) and fifteen (39.47%) with 3P hydrophobic IOLs. Mean follow-up was 47.36 ± 7.25 months for the 1P group and 46.54 ± 9.82 months for the 3P group (p = 0.87). The mean peak IOP was higher in the 3P group (p = 0.038). No differences in the incidence of anterior uveitis or cystoid macula edema (CME) were detected between the groups (p > 0.05). None of the patients in our study developed uveitis, bleeding episodes, or required treatment for increased intraocular pressure, and no patient was diagnosed with uveitis-glaucoma-hyphema (UGH) syndrome. Post-operative corrected distance visual acuity (CDVA) was similar between the groups (p = 0.66). Conclusions: Hydrophilic IOLs can be safely placed in the ciliary sulcus and are non-inferior to the implantation of three-piece hydrophobic IOLs in the sulcus. In our cohort, with an average follow-up of approximately four years, no UGH was diagnosed, and none of the lenses were explanted. Full article

Coronary heart disease, a leading global cause of mortality, has witnessed significant advancement through robotic coronary artery bypass grafting (CABG), with the internal mammary artery (IMA) emerging as the preferred “golden conduit” for its exceptional long-term patency. Despite these advances, robotic-assisted IMA harvesting remains challenging due to the absence of force feedback, complex surgical maneuvers, and proximity to the beating heart. This study introduces a novel virtual simulation platform for robotic IMA harvesting that integrates dynamic anatomical modeling and real-time haptic feedback. By incorporating a dynamic cardiac model into the surgical scene, our system precisely simulates the impact of cardiac pulsation on thoracic cavity operations. The platform features high-fidelity representations of thoracic anatomy and soft tissue deformation, underpinned by a comprehensive biomechanical framework encompassing fascia, adipose tissue, and vascular structures. Our key innovations include a topology-preserving cutting algorithm, a bidirectional tissue coupling mechanism, and dual-channel haptic feedback for electrocautery simulation. Quantitative assessment using our newly proposed Spatial Asymmetry Index (SAI) demonstrated significant behavioral adaptations to cardiac motion, with dynamic scenarios yielding superior SAI values compared to static conditions. These results validate the platform’s potential as an anatomically accurate, interactive, and computationally efficient solution for enhancing surgical skill acquisition in complex cardiac procedures. Full article

With the emergence of artificial intelligence and advancements in network technologies, the imminent arrival of 6G is not very far away. The 6G technology will introduce unique and innovative applications of the Tactile Internet in the near future. This paper highlights the evolution towards the Tactile Internet enabled by 6G technology, along with the details of 6G capabilities. It emphasizes the stringent requirements for emerging Tactile Internet applications and the critical role of parameters, such as latency, reliability, data rate, and others. The study identifies the important characteristics of future Tactile Internet applications, interprets them into explicit requirements, and then discusses the associated design considerations. The study focuses on the role of application characteristics of various applications, like virtual reality/augmented reality, remote surgery, gaming, smart cities, autonomous vehicles, industrial automation, brain–machine interface, telepresence/holography, and requirements in the design of 6G and the Tactile Internet. Furthermore, we discuss the exclusive parameters and other requirements of Tactile Internet to realize real-time haptic interactions with the help of 6G and artificial intelligence. The study deliberates and examines the important performance parameters for the given applications. It also discusses various types of sensors that are required for Tactile Internet applications. Full article

While autonomous wheelchairs reduce the burden on passengers, automation can make it difficult for them to anticipate the future path of the wheelchair, potentially causing anxiety or discomfort due to unexpected movements. In this study, we define “path” as the geometric trajectory of the wheelchair position, without considering temporal aspects. Providing passengers with information about this future path is crucial, particularly when multiple pedestrians or obstacles are present. Previous studies have primarily focused on presenting only the direction in which the wheelchair turns. In this study, we propose a path presentation method that conveys both the direction and width of turns by varying the duration of haptic apparent motion according to the turning width. The results from the evaluation experiment showed that presenting the future path, including the extent of avoidance maneuvers, improved user understanding and offered a slightly greater sense of security compared to methods that presented only directional information or no feedback at all. Full article