Effects of arm-support exoskeletons on pointing accuracy and movement.

Exoskeletons are wearable devices that support or augment users' physical abilities. Previous studies indicate that they reduce the physical demands of repetitive tasks such as those involving heavy material handling, work performed with arms elevated, and the use of heavy tools. However, there have been concerns about exoskeletons hindering movement and reducing its precision. To this end, the current study investigated how proprioception enables people to point to targets in a blindfolded, repetitive pointing task, and their ability to recalibrate their pointing movement based on visual feedback during an intervening calibration phase, both with and without an arm-support exoskeleton. On each trial, participants were instructed to follow a 40 BPM metronome to point six times alternating between two target points placed either on a vertical or horizontal line. Within a trial, each pointing movement alternated between flexion and extension. Results indicate that participants' average pointing error increased by 4% when they wore an exoskeleton, compared to when they did not. The average pointing error was 12% lower when the target points were aligned vertically as compared to horizontally. It was also observed that the average pointing error was 14% lower during flexion as compared to extension movement. Surprisingly, accuracy did not improve in the post-test as compared to the pre-test phase, likely due to accuracy being high from the beginning. Participants' movement dynamics were analyzed using Recurrence Quantification Analysis. It was found that movements were less deterministic (1% reduction in percentage of determinism) and less stable (13.6% reduction in average diagonal line length on the recurrence plot) when they wore the exoskeleton as compared to when they did not. These results have implications on the design of arm-support exoskeletons and for facilitating their integration into the natural motor synergies in humans.

Quantifying accuracy on distance estimation tasks: A Monte Carlo study.

An important aspect of perceptual learning involves understanding how well individuals can perceive distances, sizes, and time-to-contact. Oftentimes, the primary goal in these experiments is to assess participants' errors (i.e., how accurately participants perform these tasks). However, the manner in which researchers have quantified error, or task accuracy, has varied. The use of different measures of task accuracy, to include error scores, ratios, and raw estimates, indicates that the interpretation of findings depends on the measure of task accuracy utilized. In an effort to better understand this issue, we used a Monte Carlo simulation to evaluate five dependent measures of accuracy: raw distance judgments, a ratio of true to estimated distance judgments, relative error, signed error, and absolute error. We simulated data consistent with prior findings in the distance perception literature and evaluated how findings and interpretations vary as a function of the measure of accuracy used. We found there to be differences in both statistical findings (e.g., overall model fit, mean square error, Type I error rate) and the interpretations of those findings. The costs and benefits of utilizing each accuracy measure for quantifying accuracy in distance estimation studies are discussed.

Investigating the Effects of Avatarization and Interaction Techniques on Near-field Mixed Reality Interactions with Physical Components.

Mixed reality (MR) interactions feature users interacting with a combination of virtual and physical components. Inspired by research investigating aspects associated with near-field interactions in augmented and virtual reality (AR & VR), we investigated how avatarization, the physicality of the interacting components, and the interaction technique used to manipulate a virtual object affected performance and perceptions of user experience in a mixed reality fundamentals of laparoscopic peg-transfer task wherein users had to transfer a virtual ring from one peg to another for a number of trials. We employed a 3 (Physicality of pegs) X 3 (Augmented Avatar Representation) X 2 (Interaction Technique) multi-factorial design, manipulating the physicality of the pegs as a between-subjects factor, the type of augmented self-avatar representation, and the type of interaction technique used for object-manipulation as within-subjects factors. Results indicated that users were significantly more accurate when the pegs were virtual rather than physical because of the increased salience of the task-relevant visual information. From an avatar perspective, providing users with a reach envelope-extending representation, though useful, was found to worsen performance, while co-located avatarization significantly improved performance. Choosing an interaction technique to manipulate objects depends on whether accuracy or efficiency is a priority. Finally, the relationship between the avatar representation and interaction technique dictates just how usable mixed reality interactions are deemed to be.

Generalizing the optic flow equalization control law to an asymmetrical person-plus-object system.

Visually guided action in humans occurs in part through the use of control laws, which are dynamical equations in which optical information modulates an actor's interaction with their environment. For example, humans locomote through the center of a corridor by equalizing the speed of optic flow across their left and right fields of view. This optic flow equalization control law relies on a crucial assumption: that the shape of the body relative to the eyes is laterally symmetrical. Humans engaging in tool use are often producing person-plus-object systems that are not laterally symmetrical, such as when they hold a tool, bag, or briefcase in one hand, or when they drive a vehicle. This experiment tests a new generalized control law for centered steering that accounts for asymmetries produced by external tool use. Participants held an asymmetrical bar and centered themselves within a virtual moving hallway while the speed of the virtual walls were systematically changed. The results demonstrate that humans engaging with an asymmetrical tool can (1) perceive the asymmetry of a person-plus-object system, (2) use that information to modulate the use of optic flow equalization control laws for centered steering, and (3) functionally incorporate the asymmetrical tool into their perception-action system to successfully navigate their environment.

Gone Fishin': Perceiving the length of one object that is non-rigidly attached to a wielded object.

We performed four experiments to investigate whether people can perceive the length of a target object (a "fish") that is attached to a freely wielded object (the "fishing pole") by a length of string, and if so, whether this ability is grounded in the sensitivity of the touch system to invariant mechanical parameters that describe the forces and torques required to move the target object. In particular, we investigated sensitivity to mass, static moment, and rotational inertia-the forces required to keep an object from falling due to gravity, the torque required to keep an object from rotating due to gravity, and the torques required to actively rotate an object in different directions, respectively. We manipulated the length of the target object (Experiment 1), the mass of the target object (Experiment 2), and the mass distribution of the target object (Experiments 3 and 4). Overall, the results of the four experiments showed that participants can perform this task. Moreover, when the task is configured such that it more closely approximates a wielding at a distance task, the ability to do so is grounded in sensitivity to such forces and torques.

How Virtual Hand Representations Affect the Perceptions of Dynamic Affordances in Virtual Reality.

User representations are critical to the virtual experience, and involve both the input device used to support interactions as well as how the user is virtually represented in the scene. Inspired by previous work that has shown effects of user representations on the perceptions of relatively static affordances, we attempt to investigate how end-effector representations affect the perceptions of affordances that dynamically change over time. Towards this end, we empirically evaluated how different virtual hand representations affect users' perceptions of dynamic affordances in an object retrieval task wherein users were tasked with retrieving a target from a box for a number of trials while avoiding collisions with its moving doors. We employed a 3 (virtual end-effector representation) X 13 (frequency of moving doors) X 2 (target object size) multi-factorial design, manipulating the input modality and its concomitant virtual end-effector representation as a between-subjects factor across three experimental conditions: (1) Controller (using a controller represented as a virtual controller); (2) Controller-hand (using a controller represented as a virtual hand); (3) Glove (using a hand tracked hi-fidelity glove represented as a virtual hand). Results indicated that the controller-hand condition produced lower levels of performance than both the other conditions. Furthermore, users in this condition exhibited a diminished ability to calibrate their performance over trials. Overall, we find that representing the end-effector as a hand tends to increase embodiment but can also come at the cost of performance, or an increased workload due to a discordant mapping between the virtual representation and the input modality used. It follows that VR system designers should carefully consider the priorities and target requirements of the application being developed when choosing the type of end-effector representation for users to embody in immersive virtual experiences.

Comparing the Effects of Visual Realism on Size Perception in VR versus Real World Viewing through Physical and Verbal Judgments.

Virtual Reality (VR) is well-known for its use in interdisciplinary applications and research. The visual representation of these applications could vary depending in their purpose and hardware limitation, and in those situations could require an accurate perception of size for task performance. However, the relationship between size perception and visual realism in VR has not yet been explored. In this contribution, we conducted an empirical evaluation using a between-subject design over four conditions of visual realism, namely Realistic, Local Lighting, Cartoon, and Sketch on size perception of target objects in the same virtual environment. Additionally, we gathered participants' size estimates in the real world via a within-subject session. We measured size perception using concurrent verbal reports and physical judgments. Our result showed that although participants' size perception was accurate in the realistic condition, surprisingly they could still tune into the invariant but meaningful information in the environment to accurately estimate the size of targets in the non-photorealistic conditions as well. We additionally found that size estimates in verbal and physical responses were generally different in real world and VR viewing and were moderated by trial presentation over time and target object widths.

Give Me a Hand: Improving the Effectiveness of Near-field Augmented Reality Interactions By Avatarizing Users' End Effectors.

Inspired by previous works showing promise for AR self-avatarization - providing users with an augmented self avatar, we investigated whether avatarizing users' end-effectors (hands) improved their interaction performance on a near-field, obstacle avoidance, object retrieval task wherein users were tasked with retrieving a target object from a field of non-target obstacles for a number of trials. We employed a 3 (Augmented hand representation) X 2 (density of obstacles) X 2 (size of obstacles) X 2 (virtual light intensity) multi-factorial design, manipulating the presence/absence and anthropomorphic fidelity of augmented self-avatars overlaid on the user's real hands, as a between subjects factor across three experimental conditions: (1) No-Augmented Avatar (using only real hands); (2) Iconic-Augmented Avatar; (3) Realistic Augmented Avatar. Results indicated that self-avatarization improved interaction performance and was perceived as more usable regardless of the anthropomorphic fidelity of avatar. We also found that the virtual light intensity used in illuminating holograms affects how visible one's real hands are. Overall, our findings seem to indicate that interaction performance may improve when users are provided with a visual representation of the AR system's interacting layer in the form of an augmented self-avatar.

Can I Squeeze Through? Effects of Self-Avatars and Calibration in a Person-Plus-Virtual-Object System on Perceived Lateral Passability in VR.

With the popularity of Virtual Reality (VR) on the rise, creators from a variety of fields are building increasingly complex experiences that allow users to express themselves more naturally. Self-avatars and object interaction in virtual worlds are at the heart of these experiences. However, these give rise to several perception based challenges that have been the focus of research in recent years. One area that garners most interest is understanding the effects of self-avatars and object interaction on action capabilities or affordances in VR. Affordances have been shown to be influenced by the anthropometric and anthropomorphic properties of the self-avatar embodied. However, self-avatars cannot fully represent real world interaction and fail to provide information about the dynamic properties of surfaces in the environment. For example, pressing against a board to feel its rigidity. This lack of accurate dynamic information can be further amplified when interacting with virtual handheld objects as the weight and inertial feedback associated with them is often mismatched. To investigate this phenomenon, we looked at how the absence of dynamic surface properties affect lateral passability judgments when carrying virtual handheld objects in the presence or absence of gender matched body-scaled self-avatars. Results suggest that participants can calibrate to the missing dynamic information in the presence of self-avatars to make lateral passability judgments, but rely on their internal body schema of a compressed physical body depth in the absence of self-avatars.

Did I Hit the Door? Effects of Self-Avatars and Calibration in a Person-Plus-Virtual-Object System on Perceived Frontal Passability in VR.

The availability of new and improved display, tracking and input devices for Virtual Reality experiences has facilitated the use of partial and full body self-avatars in interaction with virtual objects in the environment. However, scaling the avatar to match the user's body dimensions remains to be a cumbersome process. Moreover, the effect of body-scaled self-avatars on size perception of virtual handheld objects and related action capabilities has been relatively unexplored. To this end, we present an empirical evaluation investigating the effect of the presence or absence of body-scaled self-avatars and visuo-motor calibration on frontal passability affordance judgments when interacting with virtual handheld objects. The self-avatar's dimensions were scaled to match the participant's eyeheight, arms length, shoulder width and body depth along the mid section. The results indicate that the presence of body-scaled self-avatars produce more realistic judgments of passability and aid the calibration process when interacting with virtual objects. Also, participants rely on the visual size of virtual objects to make judgments even though the kinesthetic and proprioceptive feedback of the object is missing or mismatched.

The effects of testing environment, experimental design, and ankle loading on calibration to perturbed optic flow during locomotion.

Calibration is the process by which the execution of actions becomes scaled to the (changing) relationship between environmental features and the actor's action capabilities. Though much research has investigated how individuals calibrate to perturbed optic flow, it remains unclear how different experimental factors contribute to the magnitude of calibration transfer. In the present study, we assessed how testing environment (Experiment 1), an adapted pretest-calibration-posttest design (Experiment 2), and bilateral ankle loading (Experiment 3) affected the magnitude of calibration to perturbed optic flow. We found that calibration transferred analogously to real-world and virtual environments. Although the magnitude of calibration transfer found here was greater than that reported by previous researchers, it was evident that calibration occurred rapidly and quickly plateaued, further supporting the claim that calibration is often incomplete despite continued calibration trials. We also saw an asymmetry in calibration magnitude, which may be due to a lack of appropriate perceptual-motor scaling prior to calibration. The implications of these findings for the assessment of distance perception and calibration in real-world and virtual environments are discussed.

Predicting aperture crossing behavior from within-trial metrics of motor control reliability.

Actors utilize intrinsically scaled information about their geometric and dynamic properties when perceiving their ability to pass through openings. Research about dynamic factors of affordance perception have shown that the reliability of a given movement, or the precision of one's motor control for that movement, increase the buffer space used when interacting with the environment. While previous work has assessed motor control reliability as a person-level variable (i.e., behavior is aggregated across many trials), the current study assessed how characteristics of motor control and movement reliability within a single trial impact real-time action strategies for passing through apertures. Participants walked 5 m and then passed through apertures of various widths while their motions were tracked. For each trial, we collected walking time-series data, then calculated the magnitude and complexity of the lateral sway. Assessing two behavioral measures of the buffer, we found that trial-level metrics of motor control reliability, in addition to the person-level metrics previously studied, significantly predicted the buffer on each trial. This study supports previous claims that actors pick up real-time information about their dynamic capabilities in order to perceive and act within their environment. Further, the study recommends that future affordance research consider trial-level movement data, including nonlinear analyses that inform the pattern and structure of motor control reliability.

Examining the effects of altered avatars on perception-action in virtual reality.

In virtual reality (VR), avatars are graphical representations of people. Previous research highlights benefits of having a self-avatar when perceiving-acting while embedded in a virtual environment. We studied the effect that an altered avatar had on the perception of one's action capabilities. In Experiment 1, some participants acted with a normal, or faithful, avatar whereas another group of participants used an avatar with an extended arm, all in virtual reality. Experiment 2 utilized the same methodology and procedure as Experiment 1, except that only a calibration phase occurred in VR, whereas other phases were completed in the real world. All participants performed reaches to various distances presented visually. Results showed that calibration to altered dimensions of avatars is possible after receiving feedback while acting with the altered avatar. Calibration occurred more quickly when feedback was used to transition from a normal avatar to an altered avatar than when transitioning from the altered avatar back to the normal avatar without feedback. The implications of these findings for training in virtual reality simulations and for transfer to the real world are discussed, along with the implications for the concept of an embodied action schema. (PsycINFO Database Record (c) 2019 APA, all rights reserved).

Calibration to tool use during visually-guided reaching.

In studying human perception and performance researchers must understand how the body schema is modified to accurately represent one's capabilities when tools are used, as humans use tools that alter their capabilities frequently. The present work tested the idea that calibration is responsible for modifying an embodied action schema during tool use. We investigated calibration in the context of manual activity in near space through a behavioral measure. Participants made blind reaches to various visual distances in pre- and post-test phases using a short tool that did not extend their reach. During an intervening calibration phase they received visual feedback about the accuracy of their reaches, with half of the participants reaching with a tool that extended their reach by 30cm. Results indicated both groups showed calibration appropriate to the type of tool that they used during the calibration phase, and this calibration carried over to reaches made in the post-test. These results inform discussions on the proposed embodied action schema and have applications to virtual reality, specifically the development of self-avatars.

Learning to perceive haptic distance-to-break in the presence of friction.

Two experiments employed attunement and calibration training to investigate whether observers are able to identify material break points in compliant materials through haptic force application. The task required participants to attune to a recently identified haptic invariant, distance-to-break (DTB), rather than haptic stimulation not related to the invariant, including friction. In the first experiment participants probed simulated force-displacement relationships (materials) under 3 levels of friction with the aim of pushing as far as possible into the materials without breaking them. In a second experiment a different set of participants pulled on the materials. Results revealed that participants are sensitive to DTB for both pushing and pulling, even in the presence of varying levels of friction, and this sensitivity can be improved through training. The results suggest that the simultaneous presence of friction may assist participants in perceiving DTB. Potential applications include the development of haptic training programs for minimally invasive (laparoscopic) surgery to reduce accidental tissue damage. (PsycINFO Database Record

Investigating haptic distance-to-break using linear and nonlinear materials in a simulated minimally invasive surgery task.

Accurate detection of mediated haptic information in minimally invasive surgery (MIS) is critical for applying appropriate force magnitudes onto soft tissue with the aim of minimising tissue trauma. Force perception in MIS is a dynamic process, with surgeons' administration of force into tissue revealing information about the remote surgical site which further informs the surgeons' haptic interactions. The relationship between applied force and material deformation rate provides biomechanical information specifying the deformation distance remaining until a tissue will fail: which is termed distance-to-break (DTB). The current study demonstrates that observers can detect DTB while deforming simulated tissues and stop before reaching the tissues' failure points. The design of training simulators, control devices and automated robotic systems for applications outside of MIS is discussed. Practitioner Summary: In MIS, haptic information is critical for applying appropriate forces onto soft tissue to minimise tissue trauma. Observers used force information to detect how far they could deform a virtual tissue before it would break. The design of training simulators, control devices and automated robotic systems is discussed.

Simulator-based assessment of haptic surgical skill: a comparative study.

The aim of this study was to examine if the forces applied by users of a haptic simulator could be used to distinguish expert surgeons from novices. Seven surgeons with significant operating room expertise and 9 novices with no surgical experience participated in this study. The experimental task comprised exploring 4 virtual materials with the haptic device and learning the precise forces required to compress the materials to various depths. The virtual materials differed in their stiffness and force-displacement profiles. The results revealed that for nonlinear virtual materials, surgeons applied significantly greater magnitudes of force than novices. Furthermore, for the softer nonlinear and linear materials, surgeons were significantly more accurate in reproducing forces than novices. The results of this study suggest that the magnitudes of force measured using haptic simulators may be used to objectively differentiate experts' haptic skill from that of novices. This knowledge can inform the design of virtual reality surgical simulators and lead to the future incorporation of haptic skills training in medical school curricula.

Endovascular seldinger needle placement: a simulator for examining haptic skills.

In this work, we develop an affordable haptic simulator for examining haptic skills required for endovascular Seldinger needle placement.

The effect of instructions on potential slide-out failures during portable extension ladder angular positioning.

Accidents involving portable ladders are a common cause of serious occupational and non-occupational injuries throughout the industrialized world. Many of these injuries could be prevented with better instruction on the proper usage of portable ladders. Research is reported that focused on both the human factors and engineering aspects of portable extension ladder usage based on common ladder setup procedures. Results of the human factors experiment revealed evidence of unsafe acts that could lead to catastrophic ladder slide-out accidents in real-life situations. Six different ladder setup methods were evaluated for safety and stability based on placement angles: the basic, 75 degree, stand-reach, L sticker, 4:1, and bubble level methods. Ideally, ladder users would set the ladder up at 75.5 degrees to achieve the consensus industry standard safest angle. Setup methods varied in complexity and nature of instruction. The level method produced the most accurate and the least variable results. The engineering analysis determined the coefficient of friction of a variety of clean and contaminated surfaces commonly used with ladders. This analysis determined the total number of slide-out failures that would likely have occurred in the data obtained in each of the ladder setup methods tested in the human factors experiment. Based on test participants' setup angles, the average calculated ladder slide-out failure rate was 8.7 percent for ladders positioned on a surface with the lowest measured coefficient of friction. When broken down by ladder setup method, the 4:1 method had a failure rate of 18.8 percent, the 75 degree method had a failure rate of 15.2 percent, and the basic method had a failure rate of 9.8 percent. The stand-reach and L sticker methods had identical failure rates at 3.3 percent and the level method was best at 1.1 percent. The level method provided the lowest error, least variability, and setup closest to the target angle of 75.5 degrees. Analysis of the overall results revealed the need for additional user training and clearer instructions affixed to ladders. This research is unique in that it combines an analysis and comparison of human factors and engineering in the same study.

Velocity-dependent changes of rotational axes during the control of unconstrained 3D arm motions depend on initial instruction on limb position.

The velocity-dependent change in rotational axes observed during the control of unconstrained 3D arm rotations may obey the principle of minimum inertia resistance (MIR). Rotating the arm around the minimum inertia tensor axis (e3) reduces the contribution of muscle torque to net torque by employing interaction torque. The present experiment tested whether the MIR principle still governs rotational movements when subjects were instructed to maintain the humeral long axis (SH-EL) as closely as possible to horizontal. With this view, the variability of 3D trajectories of the minimum inertia axis (e3), shoulder-center of mass axis (SH-CM) and shoulder-elbow axis (SH-EL) was quantified using a VICON V8i motion capture system. The axis for which the 3D variability displacement is minimal is considered as the one constraining the control of arm rotation. Subjects (n=15) rotated their arm in two elbow angular configurations (Elb90° vs. Elb140°), two angular velocity conditions (slow S vs. fast F), and two sensory conditions (kinaesthetic K vs. visuo-kinaesthetic VK). The minimum inertia axis e3 is angled 5.4° away from SH-CM axis, and varied from 27° to 15° away from de SH-EL axis, for Elb90° and Elb140°, respectively. We tested whether the participants would be able to maintain the instructed SH-EL rotation axis or if increasing the frequency of the arm rotations would override the initial rotation instructions and cause the limb to rotate around an axis closely aligned with e3. We expected that VK inputs would minimize the variability of the SH-EL axis and that K should facilitate the detection and rotation around e3 at the faster velocity. Taken together the results showed that the initial instruction, favoring rotation around the SH-EL axis, prevented the velocity-dependent change towards the minimum inertia (e3) and/or the mass axis (SH-CM), i.e., use of the MIR principle. However, the variability of the SH-EL axis was significantly increased in the F condition, confirming that arm rotations around the SH-EL axis produces larger mechanical instabilities in comparison to when the arm is rotated around a mass/inertial axis (Isableu et al., 2009).