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• The project determined the ability of a new tactile stimulator to evaluate the touch sensory pathways. • Mechanical detection thresholds measured in 23 healthy subjects were similar for the stimulator and Semmes-Weinstein filaments. • Tactile stimulations generated by the stimulator and applied to the hand or foot allow recording of touch-evoked potentials. We aimed to determine the ability of an innovative device, the Cutaneous Mechanical Stimulator (CMS), to evaluate touch sensory pathways in Human. Two experiments were conducted in 23 healthy volunteers aged 20–30 years. In the first, mechanical detection thresholds (MDTs) were assessed using Semmes-Weinstein monofilaments and the CMS. In the second experiment, touch-evoked potentials (TEPs) elicited by tactile stimulation of the CMS on the left hand dorsum and left foot dorsum were recorded. Electroencephalographic (EEG) data were recorded at each cutaneous stimulation site in blocks of 20 tactile stimulations delivered by the CMS. The data were segmented into 1000-ms epochs. MDTs measured by monofilaments and by the CMS were equivalent. Analyses of TEPs showed N2 and P2 components. The latencies of the N2 components on the hand dorsum and foot dorsum resulted in an estimated average conduction velocity of about 40 m.s−1, within the range of Aβ fibers. These findings showed that the CMS could assess touch sensory pathways in young adults. The CMS can offer new research perspectives, as this device allows easy assessment of the MDT and enables estimation of fiber conduction velocities after tactile stimulation by the device synchronized with EEG recordings. [ABSTRACT FROM AUTHOR]

Several methods for the measurement of tactile acuity have been devised previously, but unexpected nonspatial cues and intensive manual skill requirements compromise measurement accuracy. Therefore, we must urgently develop an automated, accurate, and noninvasive method for assessing tactile acuity. The present study develops a novel method applying a robotic tactile stimulator to automatically measure tactile acuity that comprises eye-opened, eye-closed training, and testing sessions. Healthy participants judge the orientation of a rotating grating ball presented on their index fingerpads in a two-alternative forced-choice task. A variable rotation speed of 5, 10, 40, or 160 mm/s was used for the tactile measurement at a variety of difficulties. All participants met the passing criteria for the training experiment. Performance in orientation identification, quantified by the proportion of trials with correct answers, differed across scanning directions, with the highest rotation speed (160 mm/s) having the worst performance. Accuracy did not differ between vertical and horizontal orientations. Our results demonstrated the utility of the pre-test training protocol and the functionality of the developed procedure for tactile acuity assessment. The novel protocol performed well when applied to the participants. Future studies will be conducted to apply this method to patients with impairment of light touch. [ABSTRACT FROM AUTHOR]

When central nervous system has a problem, somatic area I and II respond to stimulation differently. Therefore, it is possible to identify some of the central nervous diseases when somatosensory on the fingertip is stimulated and responses are recorded and analyzed. We designed a system to stimulate the mechanoreceptors on fingertips. It is composed of a mechanical system for fingertip stimulation, an embedded controller, a control computer, and a software to control overall operation. During test, mechanoreceptors are stimulated according to the test protocols. Individuals' answers are recorded to be evaluated by the developed software. In this study, several design approaches for embedded controller were also examined and an FPGA based controller with the same functionality but higher performance was implemented. A test procedure was performed on 51 individuals at the department of pediatric psychiatry in a hospital, to investigate whether the sex has an effect on attention deficit and hyperactivity disorder. [ABSTRACT FROM AUTHOR]

Several methods for the measurement of tactile acuity have been devised previously, but unexpected nonspatial cues and intensive manual skill requirements compromise measurement accuracy. Therefore, we must urgently develop an automated, accurate, and noninvasive method for assessing tactile acuity. The present study develops a novel method applying a robotic tactile stimulator to automatically measure tactile acuity that comprises eye-opened, eye-closed training, and testing sessions. Healthy participants judge the orientation of a rotating grating ball presented on their index fingerpads in a two-alternative forced-choice task. A variable rotation speed of 5, 10, 40, or 160 mm/s was used for the tactile measurement at a variety of difficulties. All participants met the passing criteria for the training experiment. Performance in orientation identification, quantified by the proportion of trials with correct answers, differed across scanning directions, with the highest rotation speed (160 mm/s) having the worst performance. Accuracy did not differ between vertical and horizontal orientations. Our results demonstrated the utility of the pre-test training protocol and the functionality of the developed procedure for tactile acuity assessment. The novel protocol performed well when applied to the participants. Future studies will be conducted to apply this method to patients with impairment of light touch.

In this study, we developed a tactile stimulator capable of administering either puff- or suction-type stimuli. The system is composed of three parts: a control unit, an air-handling unit, and a stimulation unit. The control unit controls the type, intensity, and time of stimulation. The air-handling unit delivers the stimulation power quantitatively to the stimulation unit, as commanded by the control unit. The stimulation unit stably administers either type of pressure to the skin, without any change of the tactor. Although the design of the stimulator is simple, it allows for five levels of control of the stimulation intensity (2-6 psi) and 0.1-s steps of control of the stimulation time, as we confirmed by tests. Preliminary electroencephalographic and event-related potential (ERP) studies of our system in humans confirmed the presence of N100 and P300 waves at standard electrode position C3, which are related to perception and cognition, respectively, in the somatosensory area of the brain. In addition, different stimulation types (puff and suction) and intensities (2 and 6 psi) were reflected in different peak-to-peak amplitudes and slopes of the mean ERP signal. The system developed in this study is expected to contribute to human tactile studies by providing the ability to administer puff- or suction-type stimuli interchangeably. [ABSTRACT FROM AUTHOR]

We have designed, fabricated and tested piezoelectric polymer (Polyvinylidene fluoride, PVDF) film-based resonating actuators for tactile stimulation. The proposed resonating tactile stimulators are composed of 3x4 stimulating dot arrays with polyimide membranes. The air chambers placed on the PVDF films aid in indirect piezoelectric actuation and produce lower spring stiffnesses than are associated with conventional direct piezoelectric actuation. They can achieve large displacements with low input voltages. The performance of the proposed resonating tactile stimulators was characterized. The stimulators achieve an output displacement of 257.0 ± 1.5 nm, output pressure of 339.1 N/m², and response time of 0.7 ms when an input voltage of 80 Vpk (52.5 kHz) is switched at 2 ms intervals (250 Hz). It has been experimentally demonstrated that the proposed flexible resonating actuators are capable of stimulating human skin to support tactile or braille displays integrated into tactile interface systems. [ABSTRACT FROM AUTHOR]

Ultrasonic vibration is employed to modify the friction of a finger pad in way that induces haptic sensations. A combination of intermittent contact and squeeze film levitation has been previously proposed as the most probable mechanism. In this paper, in order to understand the underlying principles that govern friction modulation by intermittent contact, numerical models based on finite element (FE) analysis and also a spring-Coulombic slider are developed. The physical input parameters for the FE model are optimized by measuring the contact phase shift between a finger pad and a vibrating plate. The spring-slider model assists in the interpretation of the FE model and leads to the identification of a dimensionless group that allows the calculated coefficient of friction to be approximately superimposed onto an exponential function of the dimensionless group. Thus, it is possible to rationalize the computed relative reduction in friction being (i) dependent on the vibrational amplitude, frequency, and the intrinsic coefficient of friction of the device, and the reciprocal of the exploration velocity, and (ii) independent of the applied normal force, and the shear and extensional elastic moduli of the finger skin provided that intermittent contact is sufficiently well developed. Experimental validation of the modelling using real and artificial fingertips will be reported in part 2 of this work, which supports the current modelling. [ABSTRACT FROM PUBLISHER]

In part 1 of the current study of haptic displays, a finite element (FE) model of a finger exploring a plate vibrating out-of-plane at ultrasonic frequencies was developed as well as a spring-frictional slider model. It was concluded that the reduction in friction induced by the vibrations could be ascribed to ratchet mechanism as a result of intermittent contact. The relative reduction in friction calculated using the FE model could be superimposed onto an exponential function of a dimensionless group defined from relevant parameters. The current paper presents measurements of the reduction in friction, involving real and artificial fingertips, as a function of the vibrational amplitude and frequency, the applied normal force and the exploration velocity. The results are reasonably similar to the calculated FE values and also could be superimposed using the exponential function provided that the intermittent contact was sufficiently well developed, which for the frequencies examined correspond to a minimum vibrational amplitude of $\sim 1$ µm P-P. It was observed that the reduction in friction depends on the exploration velocity and is independent of the applied normal force and ambient air pressure, which is not consistent with the squeeze film mechanism. However, the modelling did not incorporate the influence of air and the effect of ambient pressure was measured under a limited range of conditions, Thus squeeze film levitation may be synergistic with the mechanical interaction. [ABSTRACT FROM PUBLISHER]

Information obtained from multiple sensory modalities, such as vision and touch, is integrated to yield a holistic percept. As a haptic approach usually involves cross-modal sensory experiences, it is necessary to develop an apparatus that can characterize how a biological system integrates visual-tactile sensory information as well as how a robotic device infers object information emanating from both vision and touch. In the present study, we develop a novel visual-tactile cross-modal integration stimulator that consists of an LED panel to present visual stimuli and a tactile stimulator with three degrees of freedom that can present tactile motion stimuli with arbitrary motion direction, speed, and indentation depth in the skin. The apparatus can present cross-modal stimuli in which the spatial locations of visual and tactile stimulations are perfectly aligned. We presented visual-tactile stimuli in which the visual and tactile directions were either congruent or incongruent, and human observers reported the perceived visual direction of motion. Results showed that perceived direction of visual motion can be biased by the direction of tactile motion when visual signals are weakened. The results also showed that the visual-tactile motion integration follows the rule of temporal congruency of multi-modal inputs, a fundamental property known for cross-modal integration.

The topic of this paper concerns the relation between friction perception and finger friction behaviour. Two experiments were processed for some 20 individuals. The aim of the first experiment was to determine the distribution function of the perceived friction variation detected by the individuals, relating to the friction variation of the touched surface generated with a tactile stimulator. The second experiment was to determine the finger friction criterion correlated with the perceived friction variation analysed from psychophysical techniques. This criterion, called the friction contrast, depends on the individual finger and is influenced by the sliding velocity. [ABSTRACT FROM AUTHOR]

Two different principles are available to modulate the user perceived roughness of a surface: electrovibration and ultrasonic vibration of a plate. The former enhances the perceived friction coefficient and the latter reduces it. This paper will highlight the independence of the two effects on the physical and perceptual point of view to confirm the increased range of sensation and stimulation that can be supplied by the two coupled techniques to the users. Firstly, a tribometric analysis of the induced lateral force on the finger by the two coupled effects will be presented, then a study on the dynamic of the two effects will be reported. In the end, a psychophysical experiment on the perception of the two coupled techniques will be shown. [ABSTRACT FROM PUBLISHER]

In this study, a tactile stimulator that could separately or simultaneously display the vibrotactile and pressure sense was developed. The developed system consisted of a control unit, a drive unit, and an actuator, and can be operated with PC or manually. This system quantitatively controls the stimulation parameters such as the stimulation intensity, duration, frequency, and stimulation type. A preliminary electroencephalogram (EEG) experiment for three types of stimulation (vibrotactile, pressure sense, vibrotactile + pressure sense) highlights that the system could be used in complex tactile cognitive studies. An event-related desynchronization (ERD) and synchronization (ERS) were measured at the area of C3 and C4 for all three types of stimulation, and a clear response was identified in the contralateral somatosensory area from the brain topology. Therefore, it is expected that this system could be widely used in single and complex human tactile cognition and perception studies for vibrotactile and pressure sensation. [ABSTRACT FROM AUTHOR]

In the field of e-commerce or virtual prototyping of textile fabrics and garments, tactile stimulators could be very pertinent and useful tools for the industry. The challenge is to stimulate the human hand using a tactile device in order to simulate the textile fabric touch. The principle of the tactile device is described. The kinds of fabrics investigated are pile fabrics, such as velvet. In this study, the illusion of pile is given when touching the smooth plate of the tactile device by modulating the coefficient of friction between the plate and the finger during an active movement. The control signal is qualitatively designed from some tribological features identified in this study as velvet fabric characteristics. The influence of each tribological feature on the tactile rendering is studied via psychophysical studies comparing real and simulated fabrics. The best rendering needs a simulation with three specific features: a coefficient of friction, which depends on the finger movement direction; a transition phase for the change of movement direction; and small amplitude variations of the coefficient of friction with about one millimeter wavelength. [ABSTRACT FROM PUBLISHER]

Information obtained from multiple sensory modalities, such as vision and touch, is integrated to yield a holistic percept. As a haptic approach usually involves cross-modal sensory experiences, it is necessary to develop an apparatus that can characterize how a biological system integrates visual-tactile sensory information as well as how a robotic device infers object information emanating from both vision and touch. In the present study, we develop a novel visual-tactile cross-modal integration stimulator that consists of an LED panel to present visual stimuli and a tactile stimulator with three degrees of freedom that can present tactile motion stimuli with arbitrary motion direction, speed, and indentation depth in the skin. The apparatus can present cross-modal stimuli in which the spatial locations of visual and tactile stimulations are perfectly aligned. We presented visual-tactile stimuli in which the visual and tactile directions were either congruent or incongruent, and human observers reported the perceived visual direction of motion. Results showed that perceived direction of visual motion can be biased by the direction of tactile motion when visual signals are weakened. The results also showed that the visual-tactile motion integration follows the rule of temporal congruency of multi-modal inputs, a fundamental property known for cross-modal integration. [ABSTRACT FROM AUTHOR]

In this study, a tactile stimulator was developed, which can stimulate visual and auditory senses simultaneously by using the E-Prime software. This study tried to compensate for systematic stimulation control and other problems that occurred with previously developed tactile stimulators. The newly developed system consists of three units: a control unit, a drive unit and a vibrator. Since the developed system is a small, lightweight, simple structure with low electrical consumption, a maximum of 35 stimulation channels and various visual and auditory stimulation combinations without delay time, the previous systematic problem is corrected in this study. The system was designed to stimulate any part of the body including the fingers. Since the developed tactile stimulator used E-Prime software, which is widely used in the study of visual and auditory senses, the stimulator is expected to be highly practical due to a diverse combination of stimuli, such as tactile–visual, tactile–auditory, visual–auditory and tactile–visual–auditory stimulation. [ABSTRACT FROM PUBLISHER]

Abstract: In this study, we developed a new tactile stimulator using a planar coil type actuator. The newly developed system consists of three units, which are control unit, drive unit, and planar coil type actuator. The control unit of this simulator controls stimulation frequency, intensity, time, and channel. The drive unit amplifies the stimulation signal to drive the actuator. Mechanical tactile stimulation of vibration and normal indentation can be made by modulating the planar coil type actuator and the arrangement of the permanent magnet. Even though the developed stimulator is simple, it has a wide frequency range of 0–400Hz with 40 levels, and intensity modulation of 256 levels. Stimulation intensity does not change due to frequency change. The transient response time is about 100μs. The advantages of this actuator also include safety and usefulness. The performance of this tactile actuator was tested using a dummy finger made of silicone rubber. [Copyright &y& Elsevier]

Abstract: Current methods for applying multi-site vibratory stimuli to the skin typically involve the use of multiple, individual vibrotactile stimulators. Limitations of such an arrangement include difficulty with both positioning the stimuli as well as ensuring that stimuli are delivered in a synchronized and deliberate manner. Previously, we reported a two-site tactile stimulator that was developed in order to solve these problems (). Due to both the success of that novel stimulator and the limitations that were inherent in that device, we designed and fabricated a four-site stimulator that provides a number of advantages over the previous version. First, the device can stimulate four independent skin sites and is primarily designed for stimulating the digit tips. Second, the positioning of the probe tips has been re-designed to provide better ergonomic hand placement. Third, the device is much more portable than the previously reported stimulator. Fourth, the stimulator head has a much smaller footprint on the table or surface where it resides. To demonstrate the capacity of the device for delivering tactile stimulation at four independent sites, a finger agnosia protocol, in the presence and absence of conditioning stimuli, was conducted on seventeen healthy control subjects. The study demonstrated that with increasing amplitudes of vibrotactile conditioning stimuli concurrent with the agnosia test, inaccuracies of digit identification increased, particularly at digits D3 and D4. The results are consistent with prior studies that implicated synchronization of adjacent and near-adjacent cortical ensembles with conditioning stimuli in impacting TOJ performance (). [Copyright &y& Elsevier]

Abstract: This study describes the development and evaluation of a platform for the investigation of the human tactile ability. Specifically, it enables precise and reproducible application of time-varying 3D force stimuli to the skin of an immobilized human limb. We proceeded in the following steps: (1) programming a low-cost haptic interface to apply time-varying 3D force stimuli to a fixed rigid target, (2) implementing a combined feed-forward/feedback controller to improve the platform''s precision and reliability in force stimulation, (3) determining the optimal tuning of the control loop parameters and (4) evaluating the system''s performances when applying time-varying 3D force stimuli to an immobilized human finger pad. The system''s performances were evaluated in terms of the accuracy and repeatability when delivering standard 3D force stimuli, i.e., stimuli with specified force components in the normal and skin tangential directions. Within the range of forces tested (5N in various directions), the maximum difference between the actual force and the desired value during static phases was <30mN (accuracy) and the root-mean-square of the standard deviation (repeatability) was 15mN during static phases and <75mN during dynamic phases. [Copyright &y& Elsevier]

Abstract: A new pneumatic tactile stimulator, called the TAC-Cell, was developed in our laboratory to non-invasively deliver patterned cutaneous stimulation to the face and hand in order to study the neuromagnetic response adaptation patterns within the primary somatosensory cortex (S1) in young adult humans. Individual TAC-Cells were positioned on the glabrous surface of the right hand, and midline of the upper and lower lip vermilion. A 151-channel magnetoencephalography (MEG) scanner was used to record the cortical response to a novel tactile stimulus which consisted of a repeating 6-pulse train delivered at three different frequencies through the active membrane surface of the TAC-Cell. The evoked activity in S1 (contralateral for hand stimulation, and bilateral for lip stimulation) was characterized from the best-fit dipoles of the earliest prominent response component. The S1 responses manifested significant modulation and adaptation as a function of the frequency of the punctate pneumatic stimulus trains and stimulus site (glabrous lip versus glabrous hand). [ABSTRACT FROM AUTHOR]

Abstract: In order to expand the repertoire of somatosensory functions that can be effectively studied through functional MRI, we have developed a tactile stimulator which can deliver rich and varied combinations of stimulation that simulate natural tactile exploration. The system is computer controlled and compatible with an MRI environment. Complex aspects of somesthesis can thus be studied independent of confounds introduced by motor activity or problems with precision, accuracy or reproducibility of stimulus delivery. [Copyright &y& Elsevier]

Abstract: Current methods for applying two-site vibration stimuli to the skin typically involve the use of two separate vibrotactile stimulators, which can lead to difficulty with positioning of stimuli and in ensuring that stimuli are delivered perfectly in phase at the same amplitude and frequency. This report describes the Two-Point Stimulator (TPS) that was developed in order to deliver two-point stimuli to the skin at variable distances between the sites of stimulation on a trial-by-trial basis. The apparatus attaches to a vibrotactile stimulator, modifying it from the standard single probe tip to two probe tips. Each of the two probe tips can be independently positioned to set the tip-to-tip spacing. Both points of the TPS are driven by the single vibrotactile stimulator and distances between the two sites can be varied on a trial-by-trial basis. To test the device, a modified Bekesy tracking method was developed and used for two-point limen testing under stimulus conditions of varying amplitude and frequency. Data collected were consistent with previously published reports, suggesting that one possible use of the device would be to provide a means for improved measures of spatio-tactile acuity. [Copyright &y& Elsevier]

In this study, a tactile stimulator that could separately or simultaneously display the vibrotactile and pressure sense was developed. The developed system consisted of a control unit, a drive unit, and an actuator, and can be operated with PC or manually. This system quantitatively controls the stimulation parameters such as the stimulation intensity, duration, frequency, and stimulation type. A preliminary electroencephalogram (EEG) experiment for three types of stimulation (vibrotactile, pressure sense, vibrotactile + pressure sense) highlights that the system could be used in complex tactile cognitive studies. An event-related desynchronization (ERD) and synchronization (ERS) were measured at the area of C3 and C4 for all three types of stimulation, and a clear response was identified in the contralateral somatosensory area from the brain topology. Therefore, it is expected that this system could be widely used in single and complex human tactile cognition and perception studies for vibrotactile and pressure sensation.