Speed-accuracy tradeoff of fingertip force control with visual/audio/haptic feedback
01 Feb 2018-International Journal of Human-computer Studies \/ International Journal of Man-machine Studies (Academic Press)-Vol. 110, pp 33-44
TL;DR: Human capabilities for controlling absolute magnitudes of fingertip force with discrete visual/audio/haptic feedback cues were observed and compared and showed that the response time obeyed Fitts’ law within a certain range of force accuracy in all the three feedback modes.
Abstract: Fitts’ law has been widely used in the human-computer interaction (HCI) field, especially for Graphical User Interface (GUI) design. However, most studies on Fitts’ law were performed with motion control tasks under visual feedback while only a few endeavor to measure human force control behavior. How quickly humans can exert a constant force with a required accuracy and whether this speed-accuracy tradeoff obeys Fitts’ law still needs to be explored. In this paper, human capabilities for controlling absolute magnitudes of fingertip force with discrete visual/audio/haptic feedback cues were observed and compared. Eighteen participants applied constant forces by pressing a force sensor with their index fingers in the three feedback modes respectively. Response time of 24 pairs (4 × 6) of Magnitude-Tolerance conditions were measured. The results showed that the response time obeyed Fitts’ law within a certain range of force accuracy in all the three feedback modes, while the Linear speed-accuracy tradeoff model was almost superior for the force control process than the Meyer formulation and the Shannon formulation. The response time in the audio feedback mode was the shortest among the three feedback conditions. The results may be used as guidelines for applications that rely on accurate and quick force control under different feedback conditions such as fast tapping tasks on a touch screen.
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TL;DR: A globally stable adaptive fuzzy backstepping control design is proposed for nonlinear bilateral teleoperation manipulators to handle the aforementioned issues of communication delay, nonlinearities, and uncertainties.
Abstract: Bilateral teleoperation technology has been widely concerned by its unique advantages in human–machine interaction-based cooperative operation systems. Communication delay, various nonlinearities, and uncertainties in teleoperation system are the main challenging issues to achieve system stability and good transparency performance. In this paper, a globally stable adaptive fuzzy backstepping control design is proposed for nonlinear bilateral teleoperation manipulators to handle the aforementioned issues. For the communication channel, instead of direct transmission of environmental torque signals, the fuzzy-based nonpower approximate environmental parameters are transmitted to the master side for environmental torque prediction, which effectively avoids the transmission of power signals in the delayed communication channel and solves the passivity problem in the traditional teleoperation system. A trajectory generator is implemented in the master side and a trajectory smoothing is applied in the slave side. Subsequently, nonlinear adaptive fuzzy backstepping controllers for master and slave are separately designed to handle the nonlinearities and uncertainties. Theoretically, the great transparency performance of both position tracking and force feedback can be achieved, and the global stability is still guaranteed under communication delay. Comparative experiments are conducted on the real platform, which verify the effectiveness and advantages of the proposed control design in some typical working scenarios.
164 citations
Cites background from "Speed-accuracy tradeoff of fingerti..."
...Many control approaches are developed in the engineering field to handle these problems [23]–[31], such as the adaptive control for parameter variations, H∞ and μsynthesis control for modeling uncertainties, backstepping and feedback linearization control for nonlinearities, and have been applied to the bilateral teleoperation system [32]–[35]....
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TL;DR: In this paper, the authors investigated the effect of momentum conservation and energy conservation in games and found that momentum conservation provides new engagement measures while energy conservation, considering several other factors, provides the necessary components of understanding the addiction mechanism in the game-playing context.
Abstract: The gaming industry had rapidly been expanding globally, where it encompasses more than the purpose of recreational and increasingly becomes more immersive and engaging, and potentially leads to pathological gaming behaviors that lead to addiction. Such experience of engagement and addiction involves understanding the fundamental functions of the human mind’s dynamic state. This study uncovers the mind’s underlying physics via the analogy of motion (i.e., mass, velocity, etc.) using games as the source of information. This study also conjectures that the law of conservation in mind occurred in games where momentum and energy were conserved over time, where game-playing experience relative to the gambling psychology and perceptive force were identified from the objective and subjective perspectives. It was found that momentum conservation provides new engagement measures while energy conservation, considering several other factors, provides the necessary components of understanding the addiction mechanism in the game-playing context. This measurement is examined in various domains, such as popular boards and sports games, and public gambling, where its effectiveness is determined.
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01 Nov 2019-International Journal of Human-computer Studies \/ International Journal of Man-machine Studies
TL;DR: A subjective outlook on body-centered sound as a mediator of interactions in future mixed realities, populated by humans, artifacts and virtual representations is presented.
Abstract: Speech-based interaction is now part of our everyday experiences, in the home and on the move. More subtle is the presence of designed non-speech sounds in human-machine interactions, and far less evident is their importance to create aural affordances and to support human actions. However, new application areas for interactive sound, beyond the domains of speech and music, have been emerging. These range from tele-operation and way-finding, to peripheral process monitoring and augmented environments. Beyond signalling location, presence, and states, future sounding artifacts are expected to be plastic and reconfigurable, and take into account the inherently egocentric nature of sonic interaction and representation. This contribution presents a subjective outlook on body-centered sound as a mediator of interactions in future mixed realities, populated by humans, artifacts and virtual representations. Scholars and practitioners are expected to address design issues, to develop evaluation methods, and to expand interaction design practices to be truly multisensory.
13 citations
TL;DR: In this paper, the authors identify the perceptual characteristics for the frequency and direction of haptic vibration on the touch screen with vehicle-driving vibration and propose an efficient haptic system based on these characteristics.
Abstract: It is important to operate devices with control panels and touch screens assisted by haptic feedback in mobile environments such as driving automobiles and electric power wheelchairs. A lot of consideration is needed to give accurate haptic feedback, especially, presenting clear touch feedback to the elderly and people with reduced sensation is a very critical issue from healthcare and safety perspectives. In this study, we aimed to identify the perceptual characteristics for the frequency and direction of haptic vibration on the touch screen with vehicle-driving vibration and to propose an efficient haptic system based on these characteristics. As a result, we demonstrated that the detection threshold shift decreased at frequencies above 210 Hz due to the contact pressure during active touch, but the detection threshold shift increased at below 210 Hz. We found that the detection thresholds were 0.30–0.45 gpeak with similar sensitivity in the 80–270 Hz range. The haptic system implemented by reflecting the experimental results achieved characteristics suitable for use scenarios in automobiles. Ultimately, it could provide practical guidelines for the development of touch screens to give accurate touch feedback in the real-world environment.
6 citations
TL;DR: In this paper, the effect of task difficulty on cortical neural responses when participants performed a visuomotor task with varying demands on force accuracy was investigated, showing that the increasing task difficulty would only benefit for the mental investment up to a certain point, and above that point neural responses would show patterns of lower activation and connections, revealing mental overload at excessive task demands.
Abstract: Objective. Despite converging neuroimaging studies investigating how neural activity is modulated by various motor related factors, such as movement velocity and force magnitude, little has been devoted to identifying the effect of force accuracy. This study thus aimed to investigate the effect of task difficulty on cortical neural responses when participants performed a visuomotor task with varying demands on force accuracy.Approach. Fourteen healthy adults performed a set of force generation operations with six levels of force accuracy. The participants held a pen-shaped tool and moved the tool along a planar ring path, meanwhile producing a constant force against the plane under visual guidance. The required force accuracy was modulated by allowable tolerance of the force during the task execution. We employed functional near-infrared spectroscopy to record signals from bilateral prefrontal, sensorimotor and occipital areas, used the hemoglobin concentration as indicators of cortical activation, then calculated the effective connectivity across these regions by Granger causality.Main results.We observed overall stronger activation (oxy-hemoglobin concentration,p= 0.015) and connectivity (p< 0.05) associated with the initial increase in force accuracy, and the diminished trend in activation and connectivity when participants were exposed to excessive demands on accurate force generation. These findings suggested that the increasing task difficulty would be only beneficial for the mental investment up to a certain point, and above that point neural responses would show patterns of lower activation and connections, revealing mental overload at excessive task demands.Significance.Our results provide the first evidence for the inverted U-shaped effect of force accuracy on hemodynamic responses during fine visuomotor tasks. The insights obtained through this study also highlight the essential role of inter-region connectivity alterations for coping with task difficulty, enhance our understanding of the underlying motor neural processes, and provide the groundwork for developing adaptive neurorehabilitation strategies.
3 citations
References
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TL;DR: The motor system in the present case is defined as including the visual and proprioceptive feedback loops that permit S to monitor his own activity, and the information capacity of the motor system is specified by its ability to produce consistently one class of movement from among several alternative movement classes.
Abstract: Information theory has recently been employed to specify more precisely than has hitherto been possible man's capacity in certain sensory, perceptual, and perceptual-motor functions (5, 10, 13, 15, 17, 18). The experiments reported in the present paper extend the theory to the human motor system. The applicability of only the basic concepts, amount of information, noise, channel capacity, and rate of information transmission, will be examined at this time. General familiarity with these concepts as formulated by recent writers (4, 11,20, 22) is assumed. Strictly speaking, we cannot study man's motor system at the behavioral level in isolation from its associated sensory mechanisms. We can only analyze the behavior of the entire receptor-neural-effector system. However, by asking 51 to make rapid and uniform responses that have been highly overlearned, and by holding all relevant stimulus conditions constant with the exception of those resulting from 5"s own movements, we can create an experimental situation in which it is reasonable to assume that performance is limited primarily by the capacity of the motor system. The motor system in the present case is defined as including the visual and proprioceptive feedback loops that permit S to monitor his own activity. The information capacity of the motor system is specified by its ability to produce consistently one class of movement from among several alternative movement classes. The greater the number of alternative classes, the greater is the information capacity of a particular type of response. Since measurable aspects of motor responses, such as their force, direction, and amplitude, are continuous variables, their information capacity is limited only by the amount of statistical variability, or noise, that is characteristic of repeated efforts to produce the same response. The information capacity of the motor Editor's Note. This article is a reprint of an original work published in 1954 in the Journal of Experimental Psychology, 47, 381391.
7,599 citations
TL;DR: A theory of motor-output variability that accounts for the relationship among the movement amplitude, movement time, the mass to be moved, and the resulting movement error is presented.
Abstract: Theoretical accounts of the speed-accuracy trade-off in rapid movement have usually focused on within-moveme nt error detection and correction, and have consistently ignored the possibility that motor-output variability might be predictably related to movement amplitude and movement time. This article presents a theory of motor-output variability that accounts for the relationship among the movement amplitude, movement time, the mass to be moved, and the resulting movement error. Predictions are derived from physical principles; empirical evidence supporting the principles is presented for three movement paradigms (single-aiming responses, reciprocal movements, and rapid-timing tasks); and the theory and data are discussed in terms of past theoretical accounts and future research directions. Examining the current level of understanding about the production and control of motor responses, many would no doubt be tempted to say that we have not come very far since the early writings of Woodworth (1899) and Hollingworth (1909). These writers were concerned with the basic laws of limb movements (analogous, perhaps to the basic laws of motion that were the cornerstone of physics) that denned the relationship between the simplest aspects of motor
1,605 citations
"Speed-accuracy tradeoff of fingerti..." refers background in this paper
...Schmidt et al. found linear tradeoff between speed and accuracy(Schmidt et al., 1979) which can be formulated as follows, A/WbaRT (3) In this paper, the influence of the signal-to-noise ratio (A/W) and the index of difficulty (ID) on the response time (RT) were systematically analyzed....
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TL;DR: The present study provides a historical and theoretical context for the Fitts' law model, including an analysis of problems that have emerged through the systematic deviation of observations from predictions.
Abstract: According to Fitts' law, human movement can be modeled by analogy to the transmission of information. Fitts' popular model has been widely adopted in numerous research areas, including kinematics, human factors, and (recently) human-computer interaction (HCI). The present study provides a historical and theoretical context for the model, including an analysis of problems that have emerged through the systematic deviation of observations from predictions. Refinements to the model are described, including a formulation for the index of task difficulty that is claimed to be more theoretically sound than Fitts' original formulation. The model's utility in predicting the time to position a cursor and select a target is explored through a review of six Fitts' law studies employing devices such as the mouse, trackball, joystick, touchpad, helmet-mounted sight, and eye tracker. An analysis of the performance measures reveals tremendous inconsistencies, making across-study comparisons difficult. Sources of experimental variation are identified to reconcile these differences.
1,369 citations
"Speed-accuracy tradeoff of fingerti..." refers methods in this paper
...Fitts’ law has been widely used for designing humancomputer interfaces (Fitts, 1954; Mackenzie, 1992; Soukoreff and MacKenzie, 2004; Wright and Lee, 2013)....
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...Besides the Shannon formulation of Fitts’ law (logarithmic form), the Meyer formulation (power form) and the Linear trade-off formulation (linear form) are also used to describe human movement (Guiard and Beaudouin-Lafon, 2004; Mackenzie, 1992)....
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...In an effort to improve the data-to-model fit, lots of researchers have proposed variations on Fitts' law, such as the logarithmic model, or have introduced new models derived from different principles (Mackenzie, 1992; Soukoreff and MacKenzie, 2004)....
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...In HCI, the Shannon formulation of Fitts’ law (Mackenzie, 1992) is most frequently used, which is defined as ID 2 1)(A/WlogbaRT (1) where a and b are regression coefficients, A/W is the signal-to-noise ratio, and ID is the index of difficulty....
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TL;DR: The present conceptual framework provides insights into principles of motor performance, and it links the study of physical action to research on sensation, perception, and cognition, where psychologists have been concerned for some time about the degree to which mental processes incorporate rational and normative rules.
Abstract: A stochastic optimized-submovement model is proposed for Pitts' law, the classic logarithmic tradeoff between the duration and spatial precision of rapid aimed movements. According to the model, an aimed movement toward a specified target region involves a primary submovement and an optional secondary corrective submovement. The submovements are assumed to be programmed such that they minimize average total movement time while maintaining a high frequency of target hits. The programming process achieves this minimization by optimally adjusting the average magnitudes and durations of noisy neuromotor force pulses used to generate the submovements. Numerous results from the literature on human motor performance may be explained in these terms. Two new experiments on rapid wrist rotations yield additional support for the stochastic optimizedsubmovement model. Experiment 1 revealed that the mean durations of primary submovements and of secondary submovements, not just average total movement times, conform to a square-root approximation of Pitts' law derived from the model. Also, the spatial endpoints of primary submovements have standard deviations that increase linearly with average primary-submovement velocity, and the average primary-submovement velocity influences the relative frequencies of secondary submovements, as predicted by the model. During Experiment 2, these results were replicated and extended under conditions in which subjects made movements without concurrent visual feedback. This replication suggests that submovement optimization may be a pervasive property of movement production. The present conceptual framework provides insights into principles of motor performance, and it links the study of physical action to research on sensation, perception, and cognition, where psychologists have been concerned for some time about the degree to which mental processes incorporate rational and normative rules. An enduring issue in the study of the human mind concerns of mathematical probability theory and statistical decision thethe rationality and optimality of the mental processes that guide ory (e.g., see Edwards, 1961; Edwards, Lindman, & Savage,
1,361 citations
"Speed-accuracy tradeoff of fingerti..." refers background or methods in this paper
...Meyer et al. (Meyer et al., 1988) proposed an optimized dual-submovements model and verified its validity of better explaining Fitts’ law....
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...The Meyer formulation divides the specified target region into a primary submovement and an optimal secondary corrective submovement (Meyer et al., 1988)....
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...And they extended it to an optimized multiple-submovements model including one, two, three, or more submovements later (Meyer et al., 1990)....
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01 Dec 2004-International Journal of Human-computer Studies \/ International Journal of Man-machine Studies
TL;DR: This paper makes seven recommendations to HCI researchers wishing to construct Fitts' law models for either movement time prediction, or for the comparison of conditions in an experiment that support the methods described in the recent ISO 9241-9 standard on the evaluation of pointing devices.
Abstract: This paper makes seven recommendations to HCI researchers wishing to construct Fitts' law models for either movement time prediction, or for the comparison of conditions in an experiment. These seven recommendations support (and in some cases supplement) the methods described in the recent ISO 9241-9 standard on the evaluation of pointing devices. In addition to improving the robustness of Fitts' law models, these recommendations (if widely employed) will improve the comparability and consistency of forthcoming publications. Arguments to support these recommendations are presented, as are concise reviews of 24 published Fitts' law models of the mouse, and 9 studies that used the new ISO standard.
893 citations
"Speed-accuracy tradeoff of fingerti..." refers methods in this paper
...Fitts’ law has been widely used for designing humancomputer interfaces (Fitts, 1954; Mackenzie, 1992; Soukoreff and MacKenzie, 2004; Wright and Lee, 2013)....
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...In an effort to improve the data-to-model fit, lots of researchers have proposed variations on Fitts' law, such as the logarithmic model, or have introduced new models derived from different principles (Mackenzie, 1992; Soukoreff and MacKenzie, 2004)....
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