Perceived realism of haptic rendering methods for bimanual high force tasks: original and replication study.

Realistic haptic feedback is a key for virtual reality applications in order to transition from solely procedural training to motor-skill training. Currently, haptic feedback is mostly used in low-force medical procedures in dentistry, laparoscopy, arthroscopy and alike. However, joint replacement procedures at hip, knee or shoulder, require the simulation of high-forces in order to enable motor-skill training. In this work a prototype of a haptic device capable of delivering double the force (35 N to 70 N) of state-of-the-art devices is used to examine the four most common haptic rendering methods (penalty-, impulse-, constraint-, rigid body-based haptic rendering) in three bimanual tasks (contact, rotation, uniaxial transition with increasing forces from 30 to 60 N) regarding their capabilities to provide a realistic haptic feedback. In order to provide baseline data, a worst-case scenario of a steel/steel interaction was chosen. The participants needed to compare a real steel/steel interaction with a simulated one. In order to substantiate our results, we replicated the study using the same study protocol and experimental setup at another laboratory. The results of the original study and the replication study deliver almost identical results. We found that certain investigated haptic rendering method are likely able to deliver a realistic sensation for bone-cartilage/steel contact but not for steel/steel contact. Whilst no clear best haptic rendering method emerged, penalty-based haptic rendering performed worst. For simulating high force bimanual tasks, we recommend a mixed implementation approach of using impulse-based haptic rendering for simulating contacts and combine it with constraint or rigid body-based haptic rendering for rotational and translational movements.

Spatial updating in virtual reality for reproducing object locations in vista space-Boundaries, landmarks, and idiothetic cues.

Keeping track of locations across self-motion is possible by continuously updating spatial representations or by encoding and later instantaneously retrieving spatial representations. In virtual reality (VR), sensory cues to self-motion used in continuous updating are typically reduced. In passive translation compared to real walking in VR, optic flow is available but body-based (idiothetic) cues are missing. With both kinds of translation, boundaries and landmarks as static visual cues can be used for instantaneous updating. In two experiments, we let participants encode two target locations, one of which had to be reproduced by pointing after forward translation in immersive VR (HMD). We increased sensory cues to self-motion in comparison to passive translation either by strengthening optic flow or by real walking. Furthermore, we varied static visual cues in the form of boundaries and landmarks inside boundaries. Increased optic flow and real walking did not reliably increase performance suggesting that optic flow even in a sparse environment was sufficient for continuous updating or that merely instantaneous updating took place. Boundaries and landmarks, however, did support performance as quantified by decreased bias and increased precision, particularly if they were close to or even enclosed target locations. Thus, enriched spatial context is a viable method to support spatial updating in VR and synthetic environments (teleoperation). Spatial context does not only provide a static visual reference in offline updating and continuous allocentric self-location updating but also, according to recent neuroscientific evidence on egocentric bearing cells, contributes to continuous egocentric location updating as well.

Evaluating the Effects of Virtual Reality Environment Learning on Subsequent Robot Teleoperation in an Unfamiliar Building.

Using a map in an unfamiliar environment requires identifying correspondences between elements of the map's allocentric representation and elements in egocentric views. Aligning the map with the environment can be challenging. Virtual reality (VR) allows learning about unfamiliar environments in a sequence of egocentric views that correspond closely to the perspectives and views that are experienced in the actual environment. We compared three methods to prepare for localization and navigation tasks performed by teleoperating a robot in an office building: studying a floor plan of the building and two forms of VR exploration. One group of participants studied a building plan, a second group explored a faithful VR reconstruction of the building from a normal-sized avatar's perspective, and a third group explored the VR from a giant-sized avatar's perspective. All methods contained marked checkpoints. The subsequent tasks were identical for all groups. The self-localization task required indication of the approximate location of the robot in the environment. The navigation task required navigation between checkpoints. Participants took less time to learn with the giant VR perspective and with the floorplan than with the normal VR perspective. Both VR learning methods significantly outperformed the floorplan in the orientation task. Navigation was performed quicker after learning in the giant perspective compared to the normal perspective and the building plan. We conclude that the normal perspective and especially the giant perspective in VR are viable options for preparing for teleoperation in unfamiliar environments when a virtual model of the environment is available.

Age and gender effects on presence, user experience and usability in virtual environments-first insights.

Virtual Reality (VR) is applied in various areas were a high User Experience is essential. The sense of Presence while being in VR and its relation to User Experience therefore form crucial aspects, which are yet to be understood. This study aims at quantifying age and gender effects on this connection, involving 57 participants in VR, and performing a geocaching game using a mobile phone as experimental task to answer questionnaires measuring Presence (ITC-SOPI), User Experience (UEQ) and Usability (SUS). A higher Presence was found for the older participants, but there was no gender difference nor any interaction effects of age and gender. These findings are contractionary to preexisting limited work which has shown higher Presence for males and decreases of Presence with age. Four aspects discriminating this study from literature are discussed as explanations and as a starting point for future investigations into the topic. The results further showed higher ratings in favor of User Experience and lower ratings towards Usability for the older participants.

Wrist at risk? - Considerations derived from a novel experimental setup to assess torques during hip reaming with potential implications on the orthopedic surgeons' health.

Orthopedic surgeons endure high physical stresses when performing surgery, as large forces and torques are applied commonly. Occupational risks are consequently higher when compared to other surgical disciplines. One example is the reaming of the acetabula during total hip arthroplasty, using customized instruments. This surgery may predispose the surgeon to overuse-related wrist pathology. In this study, torques acting along the reaming tool were measured, and the resulting forces applied to the orthopedic surgeons' wrists were estimated based on the measured torque data from hip reaming. Different reamer sizes and tool velocities were analyzed to determine how both parameters may influence the torques applied at the surgeon's wrist. Using a highly standardized setup, torques were measured while the reamer was pushed into the acetabula to remove cartilage. Maximum torques and stoppage torques at blocking of the reamer were compared between feed rates and reamer sizes. Peak values of the maximum torques along the reamer axis averaged 1.5-1.8 Nm. No significant difference between maximum torques and reamer sizes was found. A significant difference in maximum torques was noted between feed rates with a large effect (p = 0.010; η2 = 0.214) and a large interaction effect (p = 0.017; η2 = 0.186). Based on this experimental setup, it can be hypothesized that the impulsive behavior of the torque when the milling tool reaches the subchondral lamella could potentially contribute to wrist pathology. These preliminary data warrant further study. Consequently, torque limiters should be implemented in reamers to minimize the risk of occupation-related pathology to the wrist.

A cadaver-based biomechanical model of acetabulum reaming for surgical virtual reality training simulators.

Total hip arthroplasty (THA) is a highly successful surgical procedure, but complications remain, including aseptic loosening, early dislocation and misalignment. These may partly be related to lacking training opportunities for novices or those performing THA less frequently. A standardized training setting with realistic haptic feedback for THA does not exist to date. Virtual Reality (VR) may help establish THA training scenarios under standardized settings, morphology and material properties. This work summarizes the development and acquisition of mechanical properties on hip reaming, resulting in a tissue-based material model of the acetabulum for force feedback VR hip reaming simulators. With the given forces and torques occurring during the reaming, Cubic Hermite Spline interpolation seemed the most suitable approach to represent the nonlinear force-displacement behavior of the acetabular tissues over Cubic Splines. Further, Cubic Hermite Splines allowed for a rapid force feedback computation below the 1 ms hallmark. The Cubic Hermite Spline material model was implemented using a three-dimensional-sphere packing model. The resulting forces were delivered via a human-machine-interaction certified KUKA iiwa robotic arm used as a force feedback device. Consequently, this novel approach presents a concept to obtain mechanical data from high-force surgical interventions as baseline data for material models and biomechanical considerations; this will allow THA surgeons to train with a variety of machining hardness levels of acetabula for haptic VR acetabulum reaming.

Presence and User Experience in a Virtual Environment under the Influence of Ethanol: An Explorative Study.

Virtual Reality (VR) is used for a variety of applications ranging from entertainment to psychological medicine. VR has been demonstrated to influence higher order cognitive functions and cortical plasticity, with implications on phobia and stroke treatment. An integral part for successful VR is a high sense of presence - a feeling of 'being there' in the virtual scenario. The underlying cognitive and perceptive functions causing presence in VR scenarios are however not completely known. It is evident that the brain function is influenced by drugs, such as ethanol, potentially confounding cortical plasticity, also in VR. As ethanol is ubiquitous and forms part of daily life, understanding the effects of ethanol on presence and user experience, the attitudes and emotions about using VR applications, is important. This exploratory study aims at contributing towards an understanding of how low-dose ethanol intake influences presence, user experience and their relationship in a validated VR context. It was found that low-level ethanol consumption did influence presence and user experience, but on a minimal level. In contrast, correlations between presence and user experience were strongly influenced by low-dose ethanol. Ethanol consumption may consequently alter cognitive and perceptive functions related to the connections between presence and user experience.