Three-Dimensional Skin Deformation as Force Substitution: Wearable Device Design and Performance During Haptic Exploration of Virtual Environments.

Virtual reality systems would benefit from a compelling force sensory substitute when workspace or stability limitations prevent the use of kinesthetic force feedback systems. We present a wearable fingertip haptic device with the ability to make and break contact in addition to rendering both shear and normal skin deformation to the fingerpad. A delta mechanism with novel bias spring and tether actuator relocation method enables the use of high-end motors and encoders, allowing precise device control: 10 Hz bandwidth and 0.

Sensory Substitution and Augmentation Using 3-Degree-of-Freedom Skin Deformation Feedback.

During tool-mediated interaction with everyday objects, we experience kinesthetic forces and tactile sensations in the form of vibration and skin deformation at the fingerpad. Fingerpad skin deformation is caused by forces applied tangentially and normally to the fingerpad skin, resulting in tangential and normal skin displacement. We designed a device to convey 3-degree-of-freedom (DoF) force information to the user via skin deformation, and conducted two experiments to determine the devices effectiveness for force-feedback substitution and augmentation.

Recurrent pain, illness intrusiveness, and quality of life in end-stage renal disease.

Repeated episodes of headache and muscle cramp were hypothesized to contribute to increased patient perceptions of illness intrusiveness and to compromised quality of life. Standard measures of pain, illness intrusiveness, and quality of life were obtained on 2 occasions, each 6 weeks apart, from 100 end-stage renal disease patients. The impact of recurrent muscle cramps on perceptions of illness intrusiveness was conditional upon the occurrence of headache symptoms.