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Research Overview

Natural Embodied Touch

Finger-Surface Contact Mechanics in Diverse Moisture Conditions

Perceptual Integration of Contact Force Components During Fingertip Sliding

Material Intelligence of Animal Whiskers

Artificial Touch Sensing and Processing

Giving Touch to Soft Robot Fingertips Using Vision, Audio and Machine Learning

Capturing and Recognizing Multimodal Surface Interactions

Multimodal Puncture Detection for Urgent Percutaneous Therapies

Haptic Actuation

Quantifying the Quality of Haptic Interfaces

Shape-Changing Haptic Interfaces

Generating Clear Vibrotactile Cues with Magnets Embedded in a Soft Finger Sheath

Salient Full-Fingertip Haptic Feedback Enabled by Wearable Electrohydraulic Actuation

Cutaneous Electrohydraulic (CUTE) Wearable Devices for Pleasant Broad-Bandwidth Haptic Cues

Modeling Finger-Touchscreen Contact during Electrovibration

Perception of Ultrasonic Friction Pulses

CAPT Motor: A Two-Phase Ironless Motor Structure

Immersive Teleoperation

4D Intraoperative Surgical Perception: Anatomical Shape Reconstruction from Multiple Viewpoints

Visual-Inertial Force Estimation in Robotic Surgery

Enhancing Robotic Surgical Training

AiroTouch: Naturalistic Vibrotactile Feedback for Large-Scale Telerobotic Assembly

Optimization-Based Whole-Arm Teleoperation for Natural Human-Robot Interaction

Human-Robot Interaction

Enhancing HRI through Responsive Multimodal Feedback

Haptic Empathetic Robot Animal (HERA)

How does HuggieBot compare to a human hugging partner?

HuggieBot: Evolution of an Interactive Hugging Robot with Visual and Haptic Perception

Human Movement

Reconstructing Sign-Language Movements from Images and Bioimpedance Measurements

Advancing Gait-Retraining Techniques

Multimodal Sensing Reveals the Dynamics of Time-Constrained Teamwork

Previous HI Projects

Finger-Surface Contact Mechanics in Diverse Moisture Conditions

Perceptual Integration of Contact Force Components During Tactile Stimulation

Dynamic Models and Wearable Tactile Devices for the Fingertips

Novel Designs and Rendering Algorithms for Fingertip Haptic Devices

Dimensional Reduction from 3D to 1D for Realistic Vibration Rendering

Prendo: Analyzing Human Grasping Strategies for Visually Occluded Objects

Learning Upper-Limb Exercises from Demonstrations

Minimally Invasive Surgical Training with Multimodal Feedback and Automatic Skill Evaluation

Efficient Large-Area Tactile Sensing for Robot Skin

Haptic Feedback and Autonomous Reflexes for Upper-limb Prostheses

Gait Retraining

Intraoperative AR Assistance for Robot-Assisted Minimally Invasive Surgery

Haptipedia

Exercise Games with Baxter

Intuitive Social-Physical Robots for Exercise

Insight: a Haptic Sensor Powered by Vision and Machine Learning

Haptic Intelligence Members Publications

Members

Haptic Intelligence
Katherine J. Kuchenbecker
Director

Publications

Haptic Intelligence Article Virtual Reality Treatment Displaying the Missing Leg Improves Phantom Limb Pain: A Small Clinical Trial Ambron, E., Buxbaum, L. J., Miller, A., Stoll, H., Kuchenbecker, K. J., Coslett, H. B. Neurorehabilitation and Neural Repair, 35(12):1100-1111, December 2021 (Published)
Background: Phantom limb pain (PLP) is a common and in some cases debilitating consequence of upper- or lower-limb amputation for which current treatments are inadequate. Objective: This small clinical trial tested whether game-like interactions with immersive VR activities can reduce PLP in subjects with transtibial lower-limb amputation. Methods: Seven participants attended 5–7 sessions in which they engaged in a visually immersive virtual reality experience that did not require leg movements (Cool! TM), followed by 10–12 sessions of targeted lower-limb VR treatment consisting of custom games requiring leg movement. In the latter condition, they controlled an avatar with 2 intact legs viewed in a head-mounted display (HTC Vive TM). A motion-tracking system mounted on the intact and residual limbs controlled the movements of both virtual extremities independently. Results: All participants except one experienced a reduction of pain immediately after VR sessions, and their pre session pain levels also decreased over the course of the study. At a group level, PLP decreased by 28% after the treatment that did not include leg movements and 39.6% after the games requiring leg motions. Both treatments were successful in reducing PLP. Conclusions: This VR intervention appears to be an efficacious treatment for PLP in subjects with lower-limb amputation.
DOI BibTeX
Haptic Intelligence Article Immersive Low-Cost Virtual Reality Treatment for Phantom Limb Pain: Evidence from Two Cases Ambron, E., Miller, A., Kuchenbecker, K. J., Buxbaum, L. J., Coslett, H. B. Frontiers in Neurology, 9(67):1-7, February 2018 (Published) DOI BibTeX