Lessons in using vibrotactile feedback to guide fast arm motions
Open accessAbstract
We present and evaluate an arm-motion guidance system that uses magnetic tracking sensors and low cost vibrotactile actuators. The system measures the movement of the user's arm and provides vibration feedback at the wrist and elbow when they stray from the desired motion. An initial study was conducted to investigate whether adding tactile feedback to visual feedback reduces motion errors when a user is learning a new arm trajectory. Although subjects preferred it, we found that the addition of tactile feedback did not affect motion tracking performance. We also found no strong preference or performance differences between attractive and repulsive tactile feedback. Some factors that may have influenced these results include the speed and the complexity of the tested motions, the type of tactile actuators and drive signals used, and inconsistencies in joint angle estimation due to Euler angle gimbal lock. We discuss insights from this analysis and provide suggestions for future systems and studies in tactile motion guidance.
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In a study on learning arm movements with visuo-vibrotactile feedback, neither attractive nor repulsive mode was preferred.
“In a study on learning arm movements with visuo-vibrotactile feedback, neither the attractive nor the repulsive mode was preferred (Bark et al., 2011).”
From Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review (2013) · cites this paper as Bark et al., 2011
The development of meaningful vibrotactile feedback and practical systems is challenging.
“The development of meaningful vibrotactile feedback, as well as practical systems, is challenging (Bark et al., 2011;Rosenthal et al., 2011).”
From Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review (2013) · cites this paper as Bark et al., 2011
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TIKL: Development of a Wearable Vibrotactile Feedback Suit for Improved Human Motor Learning
Lieberman, J., & Breazeal, C. (2007) · IEEE Transactions on Robotics · doi:10.1109/tro.2007.907481 · Cited by 272 · see citing works
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Research works printed but not linked: 13
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Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review
Sigrist, R., Rauter, G., Riener, R., & Wolf, P. (2013) · Psychonomic Bulletin & Review · doi:10.3758/s13423-012-0333-8 · Cited by 1,416 · see citing works
Vibrotactile Display: Perception, Technology, and Applications
Choi, S., & Kuchenbecker, K. J. (2013) · Proceedings of the IEEE · doi:10.1109/jproc.2012.2221071 · Cited by 496 · see citing works
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- Authors
- Bark, K., Khanna, P., Irwin, R., Kapur, P., Jax, S. A., Buxbaum, L. J., & Kuchenbecker, K. J.
- Affiliations
- University of Pennsylvania (US)
- Moss Rehabilitation Hospital (US)
- Venue
- 2011 IEEE World Haptics Conference
- Publisher
- IEEE
- Published
- 2011-06
- Pages
- 355-360
- OpenAlex
- W2148356299
- Cited by
- 63
- References
- 1
- Citations by year
- 2026: 4 · 2025: 2 · 2024: 3 · 2023: 3 · 2022: 4 · 2021: 3 · 2020: 3 · 2019: 5 · 2018: 5 · 2017: 8 · 2016: 6 · 2015: 5 · 2014: 4 · 2013: 3 · 2012: 5
- FWCI
- 7.11
- Type
- conference paper
- Language
- en
- Open access
- green
- repository.upenn.edu
- Locations
- IEEE World Haptics Conference (WHC) (publishedVersion)
- Scholarly Commons (University of Pennsylvania) (submittedVersion)
- Funders
- National Science Foundation (0915560)
- University of Pennsylvania
- Topics
- Life Sciences › Neuroscience › Cognitive Neuroscience › Motor Control and Adaptation
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Life Sciences › Neuroscience › Cognitive Neuroscience › Tactile and Sensory Interactions
- Keywords
- vibrotactile feedback, tactile actuators, visual feedback, trajectory learning, joint angle estimation, haptic guidance
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