Haptic guidance improves the visuo-manual tracking of trajectories
Movements produced by adults were assessed in terms of shapes (dynamic time warping) and kinematics criteria (number of velocity peaks and mean velocity) ...
Haptic guidance improves the visuo-manual tracking of trajectories Jérémy Bluteau123, Sabine Coquillart1, Yohan Payan2 and Edouard Gentaz3 1. i3D, INRIA Grenoble-Rhône-Alpes, Laboratoire d'Informatique de Grenoble, France 2. TIMC-IMAG, UMR CNRS-University Joseph Fourier, Grenoble, France 3. CNRS and University of Grenoble 2, France
Context Learning to perform new movements is usually achieved by following visual demonstrations. Haptic guidance by a force feedback device is a recent and original technology which provides additional proprioceptive cues during visuo-motor learning tasks. However, the effects of two types of haptic guidances - control in position (HGP) or in force (HGF) – on visuo-manual tracking (“following”) of trajectories are still under debate.
Experiment
Results
Task Three training techniques of haptic guidance (HGP, HGF or control condition, NHG, without haptic guidance) were evaluated in two experiments. Movements produced by adults were assessed in terms of shapes (dynamic time warping) and kinematics criteria (number of velocity peaks and mean velocity) before and after the training sessions. Trajectories consisted of two Arabic and two Japaneseinspired letters in Experiment 1 and ellipses in Experiment 2.
Experiment 1: Letters
Trajectoires used in Experiments Left: Letters proposed in experiment 1: Letters 1 and 2 are Arabic and letters 3 and 4 are “Japanese-like” letters. Right: All ellipses used in experiment 2: In red, the three references trajectories used before and after each training session; In green and blue, the trajectories used during the training sessions, equidistant in the choice of their diagonals (eccentricity)
➢We observed that the use of HGF globally improves the fluency of the visuo-manual tracking of trajectories while no shape damage was observed. ➢No significant improvement was found for HGP or NHG. No Haptic Guidance
Haptic Guidance in Position
Haptic Guidance in Force
Number of velovity peaks
NS
NS
Significant reduction from 10.82±1.16 to 8.58±1.16
Mean velocity
NS
NS
Significant increase from 4.97±0.4 cm/s to 6.34±0.52 cm/s
Shape matching score (DTW)
NS
NS
NS
Experiment 2: Ellipses ➢We observed that both HGP and HGF reduces the number of velocity peaks but only HGF increase the mean velocity ➢No shape damage was found. ➢No significant improvement was found for NHG.
Participants and Experimental Setup 23 subjects (Expe. 1) and 24 subjects (Expe. 2) were asked to learn to track visuo-manually trajectories with the stylus as accurately and as promptly as possible. Trajectories were presented on a userfriendly interface, designed to be as close as possible to the usual handwriting task. A modified force feedback device’s pen was used provide haptic information to the subject.
Schematic view of haptic guidances (a) Haptic guidance in position (HGP); the force felt by the user at time t is proportional to displacement between the current user position and the theoretical position on the model trajectory; (b) Haptic guidance in force (HGF); the force felt by the user at time t is the same as the force existing for the theoretical trajectory at the same time.
No Haptic Guidance
Haptic Guidance in Position
Haptic Guidance in Force
Number of velocity peaks
NS
Significant reduction from 14.48±2.37 to 10.19±1.58
Significant reduction from 14.19±1.91 to 9.20±1.38
Mean velocity
NS
NS
Significant increase from 4.62±0.48 cm/s to 6.23 ±0.48 cm/s
Shape matching score (DTW)
NS
NS
NS
Subject undergoing the experiment “What You See Is What You Feel” interface. The force feedback device’s stylus served as a pen over a simple flat screen, which served as a paper
Conclusion ➢Haptic Guidances (HGF and HGP) do not influence the shape quality, mainly guided by visual feedbacks. ➢HGF better improved the fluidity of movements than HGP for these trajectories. ➢The global superiority of HGF over HGP suggested that learned information for this specific motor activity could be stored as internal inverse model, encoded in force coordinates.
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In contrast with this theoretical complexity, it has been experimen- tally observed that ... Received 01 March 2007, revised 16 August 2007, accepted 20 August 2007 ... Subjects gave their informed consent prior to their inclusion in the study.
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noticed that the nature of hand movements critically depends on the stimulus property to be perceived (e.g., Davidson et al., 1974; Klatzky and Lederman, 1987).
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same as for the visual condition. 2.4. Test phase procedure. All imaging was done using a 4T, whole body MRI system (Varian/Siemens) and a quadrature head ...
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