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The working hypothesis, on which this paper is built, is that it is advantageous to look at protocols of robot rehabilitation in the general context of human-robot interaction in haptic dyads. The purpose of this paper is to propose a new method to detect and evaluate an index of active participation (AC index), underlying the performance of robot-assisted movements. This is important for avoiding the slacking phenomenon that affects robot therapy.

The evaluation of the AC index is based on a novel technique of assistance which does not use constant or elastic forces but trains of small force impulses, with amplitude adapted to the level of impairment and a frequency of 2 Hz, which is suggested by recent results in the field of intermittent motor control. A preliminary feasibility test of the proposed method was carried out during a haptic reaching task in the absence of visual feedback, for a group of five stroke patients and an equal group of healthy subjects.

The AC index appears to be stable and sensitive to training in both populations of subjects.

The main original element of this study is the proposal of the new AC index of voluntary control associated with the new method of pulsed haptic interaction.

Haptics can significantly enhance the user's sense of immersion and interactivity. Especially in an assembly task, haptic feedback can help designers to have a better understanding of virtual objects and to increase task efficiency. The purpose of this paper is to investigate the design and implementation of a haptic‐based virtual assembly system (HVAS).

A multi‐thread system structure was designed, an automatic data integration interface was developed to transfer geometry, topology, assembly and physics information from a computer‐aided design system to virtual reality application, and a hierarchical constraint‐based data model and scene graph structure was designed to construct the virtual assembly environment. Unlike traditional virtual assembly systems based on collision detection or geometry constraint only, a physics‐based modeling approach combining with haptic feedback and geometry constraint was undertaken to realize and guide the realistic assembly process. When two parts collide into each other, the force and torque can be computed and provide feedback, and a spring‐mass model is used to prevent penetration and simulate dynamic behaviour. When two parts are close enough to each other and the assembly simulation state is activated, a geometry constraint can be captured, an attractive force can be generated to guide the user to assemble the part along the correct position, and the repulsive force can also be generated to realize the mating process as natural and realistic as in real life.

The implementation details and application examples demonstrate that haptic‐based virtual assembly is a valuable tool for assembly design and process planning.

The paper presents an HVAS.

The purpose of this paper is to examine the application of low-end, low-fidelity (gaming/consumer-level) haptic devices for medical-based, surgical skills development (surgical bone-based drilling in particular) with serious games and virtual simulations as an affordable training solution with the potential of complementing current and traditional training methods.

The authors present the adaptation of two low-end haptic devices (Novint Falcon and Geomagic 3D Touch) to simulate a surgical drill drilling through bone for a serious game developed for total knee arthroplasty training. The implementation was possible through the analysis of the bone drilling mechanics. The authors provide a quantitative comparison of both haptic devices with respect to forces, movements, and development.

Although further testing is required, the initial results demonstrate that the low-end, consumer-level haptic devices can be incorporated into virtual environments/serious games to allow for the simulation of surgical drilling. The authors also believe that the results will generalize and allow these devices to be used to simulate a variety of technical-based medical procedures.

In contrast to previous work where the focus is placed on cost-prohibitive haptic devices, this approach considers affordable consumer-level solutions that can be easily incorporated into a variety of serious games and virtual simulations. This holds promise that haptic-based virtual simulation and serious games become more widespread, ultimately ensuring that medical trainees are better prepared before exposure to live patients.

Touch plays an important role in the evaluations of products. However, prior quantitative touch research does not present a holistic perspective of haptics. This study aims to provide a more comprehensive understanding of haptic information that consumers attain from touch.

Adopting a qualitative research approach, semi-structured, depth interviews were conducted with industry experts.

Based on the findings, this research proposes a conceptual model of consumer haptic perception consisting of seven key influences, namely, the effects of haptic sensation, haptic perception, the influence of individual factors, the influence of external environmental factors, the multi-dimensionality of haptics, haptic cue congruity and haptic dominance.

This study suggests firms to understand the importance of consumers’ haptic perception as an opportunity to engage an individual’s heart and mind through information attained through touch.

This is the first study in marketing to propose a conceptual model of haptics comprising several new haptic influences. This model contributes to the emerging literature of sensory marketing by providing directions for future touch research by capturing the dynamic nature of haptics.

El tacto desempeña un papel importante en nuestras evaluaciones de los productos. Sin embargo, las investigaciones cuantitativas anteriores sobre el tacto no presentan una perspectiva holística de la percepción táctil. Este artículo pretende ofrecer una comprensión más completa de la información táctil que los consumidores obtienen del contacto.

Adoptando un enfoque de investigación cualitativa, se realizaron entrevistas semiestructuradas en profundidad con expertos del sector.

A partir de los resultados, esta investigación propone un modelo conceptual de la percepción táctil del consumidor que consta de siete influencias clave: Los efectos de la sensación háptica, la percepción háptica, la influencia de los factores individuales, la influencia de los factores ambientales externos, la multidimensionalidad de la sensación táctil, la congruencia de las pistas táctiles y la dominancia de la sensación táctil.

Este estudio sugiere a las empresas que comprendan la importancia de la percepción táctil de los consumidores como una oportunidad para captar el corazón y la mente del individuo a través de la información obtenida mediante el tacto.

Este es el primer estudio en marketing que propone un modelo conceptual de la percepción táctil que incluye varias influencias táctiles nuevas. Este modelo contribuye a la literatura emergente del marketing sensorial proporcionando direcciones para la futura investigación táctil al capturar la naturaleza dinámica del sentido del tacto.

触摸在我们对产品的评价中起着重要作用。然而, 在先前定量的触觉研究中并未呈现触觉的整体视角。本文旨在更全面地了解消费者通过触摸获得的触觉信息。

本文采用定性研究方法, 与行业专家进行了半结构化的深度访谈。

本研究提出了一个消费者触觉感知的概念模型, 其中包括七个关键影响因素：触觉的影响、触觉感知、个人因素的影响、外部环境因素的影响、触觉的多维性、触觉线索的一致性和触觉的主导性。

这项研究建议企业了解消费者触觉感知的重要性, 并将触觉信息传达作为吸引消费者心灵的机会。

这是营销领域首次提出触觉概念模型的研究, 该模型包含几种新的触觉影响因素。这个触觉概念模型通过捕捉触觉的动态特性为未来的触觉研究提供方向, 从而为新兴的感官营销文献做出了贡献。

The purpose of this paper is twofold. First, it seeks to extend service and retailers understanding of how the inclusion of haptics can gamify digital service experiences. Second, it seeks to understand the moderating role of consumers orientation towards adventure in service experiences.

This research adopts a two-study, 2 (haptic technology: present vs absent) × 2 (adventure orientation: high vs low) to test the proposed hypotheses (Study 1 n = 210, Study 2 n = 452). The data are tested using ANCOVA's and Hayes PROCESS Macro to investigate mean differences and the potential presence of two different moderated mediated relationships.

The results are consistent across the two experimental studies evidencing that the inclusion of haptics to gamify the service experience leads to significantly improved outcomes for service brands and channels. Further, the results demonstrate that the impact of haptics is greater for consumers with a lower, compared to higher, sense of adventure. Thus, the results demonstrate that whilst haptics improves consumers experiences with technological services overall, this is more prevalent for those who have “less sense of adventure”.

This paper sheds insight into the emerging area of haptic technology and is one of the first to specifically examine the impact of consumers “sense of adventure.”

The purpose of this paper is to give a comprehensive survey on the physics-based virtual assembly (PBVA) technology in a novel perspective, to analyze current drawbacks and propose several promising future directions.

To provide a deep insight of PBVA, a discussion of the developing context of PBVA and a comparison against constraint-based virtual assembly (CBVA) is put forward. The core elements and general structure are analyzed based on typical PBVA systems. Some common key issues as well as common drawbacks are discussed, based on which the research trend and several promising future directions are proposed.

Special attention is paid to new research progresses and new ideas concerning recent development as well as new typical systems of the technology. Advantages of PBVA over CBVA are investigated. Based on the analysis of typical PBVA systems and the evolution of PBVA, the core elements of the technology and the general structure of its implementation are identified. Then, current PBVA systems are summarized and classified. After that, key issues in the technology and current drawbacks are explored in detail. Finally, promising future directions are given, including both the further perfecting of the technology and the combination with other technologies.

The PBVA technology is put into a detailed review and analysis in a novel way, providing a better insight of both the theory and the implementation of the technology.

The paper aims to present interactive simulation with haptic feedback as a valid method for solving complex assembly problems in the context of industrial product development. Its purpose is to clarify the position of interactive simulation with respect to other methods, and to emphasize its specific value for design engineers.

The paper describes the challenges faced by design engineers in the context of design for assembly and assembly process planning. It introduces and compares automatic path planning and interactive simulation as two different approaches for checking the feasibility of assembly tasks. It provides a review of the scientific challenges and technical issues faced when implementing interactive simulation with haptic feedback in this context. It presents recent research results in the domains of final insertion and human model simulation.

The paper provides an overview of the scientific, technological and practical aspects of interactive simulation with haptic feedback. It explains how this method benefits from the manual skills and cognitive capabilities of the human operator for solving complex assembly problems. It proposes an assessment of the technical maturity using the Technology Readiness Level approach.

The paper gives insights about the maturity and usability of interactive assembly simulation with haptic feedback, for the benefit of design engineers seeking new ways to decrease product development time and costs while increasing quality.

This paper analyzes the design of a force‐based impedance control for a haptic interface system characterized by a parallel kinematics. By exploiting the features of parallel mechanisms, which perform better than the serial ones in terms of dynamic performance, stiffness and position accuracy, and by implementing a closed‐loop force control, the transparency of a haptic master system and the fidelity of resultant force feedback can be consistently improved. Issues for design and control as well as aspects of performance evaluation of haptic interfaces are treated within the paper and some results of the experimental characterization of a haptic interface are presented.

Realistic force sensation can help operators better feel and manipulate parts for virtual assembly (VA). Moreover, for VA of mechanical parts, it is necessary to consider their tolerance levels so as to apply proper assembly forces. Out of the three common assembly fit types, the type of clearance fit is the focus of virtual manual assembly, as parts with such fit type require precise force feedback to assist users’ assembly operations.

This study proposes a novel force rendering model for VA of mechanical parts with clearance fits. By decomposing an actual assembly operation into three consecutive states, the corresponding forces are formulated.

A prototype system is designed and developed to implement the model, and comparative case studies are conducted to investigate the users’ performance with the other three common approaches, namely, a typical WIMP (window-icon-menu-pointer) interface with CAD software, a physics simulation with collision detection and the approach that combines physics simulation and geometric constraints restriction. The results have shown that the proposed model is more realistic by providing continuous and realistic force feedback to the users.

The users’ feeling of immersion and their operational efficiency are greatly enhanced with the force sensation provided.