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Collaborative Haptic Interactions
Michael Bowler – University of Hertfordshire

‘Phantom’ Haptic Device

Collaborative Haptic Interactions - Michael Bowler 12/07/2012
2

Goals
 Modes of collaboration
 Understanding movement
 Establish learning of the task
 Influence design of future systems
 Test networked haptics and model of collaboration for
future work

3

Sorting Blocks Box

4

Virtual Environment

5

Collaboration Protocol

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Experiment 1 - Haptic
Collaboration
 300+ participant over 3 days

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Experiment 2 – Home-Based
Rehabilitation
 4 stroke survivors

 12-weeks of haptic assessment and exercise tasks

 Participants have suffered some level of upper-limb impairment
as a result of their stroke.

 Participants >6 months post stroke, with no further strokes
within the last 6 months.

 Participants were not receiving any other therapy for hand and
wrist function.

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Why home-based?
 Can be more effective at home
 Can reduce costs
 In the comfort of own home
 Likely to exercise more frequently and with greater
variability

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Shape Preferences
 Four shapes: Box, Star-shaped block, Cylinder, and a
Sphere.

 Two categories: curved sided, and flat sided.

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Shape Preference
Force

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Shape Preference
Accuracy

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Shape Preference
Work

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Collaborative Forces

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Order Frequency – Left to
Right
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12

10

8 1
2
6
3
4 4

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Healthy Group
90
0
80
Star Cylinder Sphere Box
70
60
Stroke Group 1
50
2
40
3
30
4
20
10
0
Star Cylinder Sphere Box

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Shape Preferences

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Limitations
 There was no continued/follow up which may may have
shown further increases in task performance and a
demonstration of learned skill for the task for the
healthy group.

 Interaction pairs in the stroke group consisted of the
participant and the investigator providing an interaction
bias.

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Conclusions
 Different shapes afford different movements/interaction
paradigms

 Curved surfaced shapes can be used for fine motor
skill practice

 Flat sided shapes can be used for strength/stamina
building exercises

Acknowledgments
 This work has been conducted as part of a PhD which
has been funded by the EU FP7 framework projects:
 LIREC EC (Living with Robots and Interactive
Companions) http://lirec.eu
 SCRIPT (Supervised Care and Rehabilitation Involving
Personal Tele-Robotics) http://scriptproject.eu

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Editor's Notes