Electrotactile and Vibrotactile Feedback Enable Similar Performance in Psychometric Tests and Closed-Loop Control
Electrotactile and Vibrotactile Feedback Enable Similar Performance in Psychometric Tests and Closed-Loop Control
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DOI：
10.1109/toh.2021.3117628
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发表时间：
2022-01-01
影响因子：
2.9
通讯作者：
Dosen, Strahinja
中科院分区：
文献类型：
--
作者：
Dideriksen, Jakob;Markovic, Marko;Dosen, Strahinja
电和振动触觉刺激通常用于闭环人机界面的反馈。尽管这些反馈系统已被单独广泛研究，但很少对它们进行客观比较。在这项研究中，在心理测量和在线控制测试中比较了形状和大小相似的两个最先进的刺激单元（同心电极和 C2-tactor）。强度和频率调制的可辨别级别的明显差异和数量分别是根据载波频率和强度值确定的。接下来，受试者执行补偿性跟踪任务，其中反馈对瞬时跟踪误差进行编码。在心理测试中，对于相同的载波频率，强度调制优于频率调制，电触觉刺激的分辨率明显高于振动触觉刺激。然而，对于最佳情况设置（电触觉：100 Hz；振动触觉：200 Hz），两种刺激方式在心理测量测试和在线控制测试中是等效的，其中两种刺激方法导致目标与生成轨迹之间相似的相关性和偏差。振动触觉方式的时间延迟稍微但显着较低。总体而言，目前的评估表明，尽管两种刺激方法之间存在心理测量差异，但当为每种模式选择最佳参数时，它们可以实现相似的在线控制性能。
Electro- and vibro-tactile stimulation are commonly employed for feedback in closed-loop human-machine interfacing. Although these feedback systems have been extensively investigated individually, they are rarely objectively compared. In this study, two state-of-the-art stimulation units (concentric electrode and C2-tactor) similar in shape and size were compared in psychometric and online control tests. The just noticeable difference and number of discriminable levels for intensity and frequency modulation were determined across values of carrier frequency and intensity, respectively. Next, subjects performed a compensatory tracking task, in which the feedback encoded the momentary tracking error. In the psychometric tests, intensity modulation outperformed frequency modulation and electrotactile stimulation enabled significantly higher resolution than vibrotactile stimulation, for the same carrier frequency. However, for the best-case settings (eletro-tactile: 100 Hz; vibro-tactile: 200 Hz), the two stimulation modalities were equivalent in the psychometric tests and in the online control tests, where the two stimulation methods resulted in similar correlation and deviation between the target and the generated trajectory. Time delay was slightly but significantly lower for the vibrotactile modality. Overall, the present assessment shows that despite psychometric differences between the two stimulation methods, they enable similar online control performance when parameters are optimally selected for each modality.