Abstract

Involuntary hand tremor has been a serious challenge in micromanipulation tasks and thus draws a significant amount of attention from related fields. To minimize the effect of the hand tremor, a variety of mechanically assistive solutions have been proposed. However, approaches increasing human awareness of their own hand tremor have not been extensively studied. In this paper, a head mount display based virtual reality (VR) system to increase human self-awareness of hand tremor is proposed. It shows a user a virtual image of a handheld device with emphasized hand tremor information. Provided with this emphasized tremor information, we hypothesize that subjects will control their hand tremor more effectively. Two methods of emphasizing hand tremor information are demonstrated: (1) direct amplification of tremor and (2) magnification of virtual object, in comparison to the controlled condition without emphasized tremor information. A human-subject study with twelve trials was conducted, with four healthy participants who performed a task of holding a handheld gripper device in a specific direction. The results showed that the proposed methods achieved a reduced level of hand tremor compared with the control condition.

PDF Article

References

  • View by:
  • |

  1. T. Tanikawa and T. AraiDevelopment of a micro-manipulation system having a two-fingered micro-handIEEE Trans. Robot. Autom199915152162
  2. G. Borchert, A. Burisch, and A. RaatzAPIS—A miniaturized robot for precision assembly with low-cost piezoelectric motorsInt. J. Precis. Eng. Manuf.201112629634
  3. U. X. Tan, W. T. Latt, C. Y. Shee, and W. T. AngA low-cost flexure-based handheld mechanism for micromanipulationIEEE/ASME Trans. Mechatronics201116773778
  4. S. K. Jericho, M. H. Jericho, T. Hubbard, and M. KujathMicro-electro-mechanical systems microtweezers for the manipulation of bacteria and small particlesRev. Sci. Instrum.20047512801282
  5. K. Moelhave and O. HansenElectro-thermally actuated microgrippers with integrated force-feedbackJ. Micromech. Microeng.2005151265
  6. R. HerbertShaking when stirred: mechanisms of physiological tremorJ. Physiol2012590112549
  7. S. Yang, R. Maclachlan, and C. RiviereManipulator design and operation of a six-degree-of-freedom handheld tremor-canceling microsurgical instrumentIEEE/ASME Trans. Mechatronics2015202761772
  8. B. Gonenc, E. Feldman, P. Gehlbach, J. Handa, R. Taylor, and I. IordachitaTowards robot-assisted vitreoretinal surgery: Force-sensing micro-forceps integrated with a handheld micromanipulatorProc. IEEE International Conference on Robotics and AutomationICRA201413991404
  9. B. Gonne, T. Handa, L. Gehlbach, R. Taylor, and I. IordachitaRobot-assisted retinal vein cannulation with force-based puncture detection: Micron vs. the steady-hand eye robotProc. 38th Annul. IEEE Engineering in Medicine and Biology ConferenceEMBC201651075111
  10. T. Latt, X. Tan, Y. Shee, and T. AngA compact hand-held active physiological tremor compensation instrumentIEEE/ASME International Conference on Advanced Intelligent Mechatronics2009711716
  11. C. Song, P. L. Gehlbach, and J. U. KangSwept source optical coherence tomography based smart handheld vitreo-retinal microsurgical tool for tremor suppressionProc. 34th Annul. IEEE Engineering in Medicine and Biology ConferenceEMBC201214051408
  12. C. Song, P. L. Gehlbach, and J. U. KangBall lens fiber optic sensor based smart handheld microsurgical instrumentProc. SPIE20138576857601-1857601-6
  13. C. B. Yeo, H. C. Park, S. Jang, P. L. Gehlbach, and C. SongDual optical coherence tomography sensor guided,two-motor, horizontal SMART micro-scissorsOpt. Lett.2016412047234726
  14. D. Koo, H. C. Park, P. L. Gehlbach, and C. SongDevelopment and preliminary results of bimanual smart micro-surgical system using a ball-lens coupled OCT distance sensorBiomed. Opt. Express201671148164826
  15. S. MarkezDevelopment of a hand tremor quantification device for the measurement of pathological tremor, Doctoral dissertationNational Library of Canada = Bibliothèque nationale du CanadaON, Canada2000
  16. S. Konishi, M. Nokata, O. Jeong, S. Kusuda, T. Sakakibara, M. Kuwayama, and H. TsutsumiPneumatic micro hand and miniaturized parallel link robot for micro manipulation robot systemProc. 2006 IEEE International Conference on Robotics and Automation200610361041
  17. K. K. Bhagat, W. K. Liou, and C. Y. ChangA cost-effective interactive 3D virtual reality system applied to military live firing trainingVirtual Reality2016202127140
  18. J. L. Maples-Keller, C. Yasinski, N. Manjin, and B. O. RothbaumVirtual reality-enhanced extinction of phobias and post-traumatic stressNeurotherapeutics2017143554563
  19. B. Bideau, R. Kulpa, N. Vignais, S. Brault, F. Multon, and C. CraigUsing virtual reality to analyze sports performanceIEEE Comput. Graph. Appl.20103021421
  20. J. W. V. de Faria, M. J. Teixeira, L. de Moura Sousa Júnior, J. P. Otoch, and E. G. FigueiredoVirtual and stereoscopic anatomy: when virtual reality meets medical educationJ. Neurosurg.2016125511051111
  21. S. Faroque, B. Horan, and M. JoordensKeyboard control method for virtual reality micro-robotic cell injection training10th System of Systems Engineering ConferenceSoSE2015416421
  22. J. Alex, B. Vikramaditya, and B. J. NelsonA virtual reality teleoperator interface for assembly of hybrid MEMS prototypesProc. DETC ASME Design Engineering Technical Conference19985836
  23. Y. Vélaz, J. R. Arce, T. Gutiérrez, A. Lozano-Rodero, and A. SuescunThe influence of interaction technology on the learning of assembly tasks using virtual realityJ. Comput. Inf. Sci. Eng.2014144041007
  24. C. Batista, V. Seshadri, R. Augusto, P. Reinhardt, P. Moreira, and J. BatistaApplying virtual reality model togreen ironmaking industry and education: ‘a case study ofcharcoal mini-blast furnace plant’Trans. Inst. Min. Metall.2017C1261-2116123
  25. B. Takacs and L. SimonA clinical virtual reality rehabilitation System for phobia treatment11th International Conference Information Visualization, IV’072007798806
  26. S. Sozzi, A. Monti, D. Nunzio, M. C. Do, and M. SchieppatiSensori-motor integration during stance: time adaptation of control mechanisms on adding or removing visionHum. Mov. Sci.2011302172189
  27. G. Jin and S. NakayamaVirtual reality game for safety educationInternational Conference on Audio, Language and Image ProcessingShanghai201495100
  28. S. Benford, J. Bowers, L. E. Fahlén, and C. GreenhalghManaging mutual awareness in collaborative virtual environmentsProc. the Conference on Virtual Reality Software and Technology1994223236
  29. C. Carlsson and O. HagsandDIVE A multi-user virtual reality systemVirtual Reality Annual International Symposium1993394400
  30. D. ReidThe influence of virtual reality on playfulness in children with cerebral palsy: a pilot studyOccup. Ther. Int.2004113131144
  31. B. K. Wiederhold and M. D. WiederholdThree-year follow-up for virtual reality exposure for fear of flyingCyberpsychol. Behav.200364441445
  32. J. McComas and H. SveistrupVirtual reality applications for prevention, disability awareness, and physical therapy rehabilitation in neurology: our recent workJ. Neurol. Phys. Ther.20022625561
  33. B. C. Becker, R. A. MacLachlan, L. A. Lobes, G. D. Hager, and C. N. RiviereVision-based control of a handheld surgical micromanipulator with virtual fixturesIEEE Trans. Robot.2014293674683
  34. T. Y. Fang, P. C. Wang, C. H. Liu, M. C. Su, and S. C. YehEvaluation of a haptics-based virtual reality temporal bone simulator for anatomy and surgery trainingComput. Methods Programs Biomed.20141132674681
  35. S. G. Kang, B. J. Ryu, K. S. Yang, Y. H. Ko, S. Cho, S. H. Kang, R. Patel, and J. CheonAn effective repetitive training schedule to achieve skill proficiency using a novel robotic virtual reality simulatorJ. Surg. Educ.2015723369376
  36. O. Ossmy and R. MukamelShort term motor-skill acquisition improves with size of self-controlled virtual handsPloS One20171210168520
  37. I. KapandjiThe physiology of the joints: Upper limb. ChurchillChurchill Livingstone19832

Other (37)

T. Tanikawa and T. AraiDevelopment of a micro-manipulation system having a two-fingered micro-handIEEE Trans. Robot. Autom199915152162

G. Borchert, A. Burisch, and A. RaatzAPIS—A miniaturized robot for precision assembly with low-cost piezoelectric motorsInt. J. Precis. Eng. Manuf.201112629634

U. X. Tan, W. T. Latt, C. Y. Shee, and W. T. AngA low-cost flexure-based handheld mechanism for micromanipulationIEEE/ASME Trans. Mechatronics201116773778

S. K. Jericho, M. H. Jericho, T. Hubbard, and M. KujathMicro-electro-mechanical systems microtweezers for the manipulation of bacteria and small particlesRev. Sci. Instrum.20047512801282

K. Moelhave and O. HansenElectro-thermally actuated microgrippers with integrated force-feedbackJ. Micromech. Microeng.2005151265

R. HerbertShaking when stirred: mechanisms of physiological tremorJ. Physiol2012590112549

S. Yang, R. Maclachlan, and C. RiviereManipulator design and operation of a six-degree-of-freedom handheld tremor-canceling microsurgical instrumentIEEE/ASME Trans. Mechatronics2015202761772

B. Gonenc, E. Feldman, P. Gehlbach, J. Handa, R. Taylor, and I. IordachitaTowards robot-assisted vitreoretinal surgery: Force-sensing micro-forceps integrated with a handheld micromanipulatorProc. IEEE International Conference on Robotics and AutomationICRA201413991404

B. Gonne, T. Handa, L. Gehlbach, R. Taylor, and I. IordachitaRobot-assisted retinal vein cannulation with force-based puncture detection: Micron vs. the steady-hand eye robotProc. 38th Annul. IEEE Engineering in Medicine and Biology ConferenceEMBC201651075111

T. Latt, X. Tan, Y. Shee, and T. AngA compact hand-held active physiological tremor compensation instrumentIEEE/ASME International Conference on Advanced Intelligent Mechatronics2009711716

C. Song, P. L. Gehlbach, and J. U. KangSwept source optical coherence tomography based smart handheld vitreo-retinal microsurgical tool for tremor suppressionProc. 34th Annul. IEEE Engineering in Medicine and Biology ConferenceEMBC201214051408

C. Song, P. L. Gehlbach, and J. U. KangBall lens fiber optic sensor based smart handheld microsurgical instrumentProc. SPIE20138576857601-1857601-6

C. B. Yeo, H. C. Park, S. Jang, P. L. Gehlbach, and C. SongDual optical coherence tomography sensor guided,two-motor, horizontal SMART micro-scissorsOpt. Lett.2016412047234726

D. Koo, H. C. Park, P. L. Gehlbach, and C. SongDevelopment and preliminary results of bimanual smart micro-surgical system using a ball-lens coupled OCT distance sensorBiomed. Opt. Express201671148164826

S. MarkezDevelopment of a hand tremor quantification device for the measurement of pathological tremor, Doctoral dissertationNational Library of Canada = Bibliothèque nationale du CanadaON, Canada2000

S. Konishi, M. Nokata, O. Jeong, S. Kusuda, T. Sakakibara, M. Kuwayama, and H. TsutsumiPneumatic micro hand and miniaturized parallel link robot for micro manipulation robot systemProc. 2006 IEEE International Conference on Robotics and Automation200610361041

K. K. Bhagat, W. K. Liou, and C. Y. ChangA cost-effective interactive 3D virtual reality system applied to military live firing trainingVirtual Reality2016202127140

J. L. Maples-Keller, C. Yasinski, N. Manjin, and B. O. RothbaumVirtual reality-enhanced extinction of phobias and post-traumatic stressNeurotherapeutics2017143554563

B. Bideau, R. Kulpa, N. Vignais, S. Brault, F. Multon, and C. CraigUsing virtual reality to analyze sports performanceIEEE Comput. Graph. Appl.20103021421

J. W. V. de Faria, M. J. Teixeira, L. de Moura Sousa Júnior, J. P. Otoch, and E. G. FigueiredoVirtual and stereoscopic anatomy: when virtual reality meets medical educationJ. Neurosurg.2016125511051111

S. Faroque, B. Horan, and M. JoordensKeyboard control method for virtual reality micro-robotic cell injection training10th System of Systems Engineering ConferenceSoSE2015416421

J. Alex, B. Vikramaditya, and B. J. NelsonA virtual reality teleoperator interface for assembly of hybrid MEMS prototypesProc. DETC ASME Design Engineering Technical Conference19985836

Y. Vélaz, J. R. Arce, T. Gutiérrez, A. Lozano-Rodero, and A. SuescunThe influence of interaction technology on the learning of assembly tasks using virtual realityJ. Comput. Inf. Sci. Eng.2014144041007

C. Batista, V. Seshadri, R. Augusto, P. Reinhardt, P. Moreira, and J. BatistaApplying virtual reality model togreen ironmaking industry and education: ‘a case study ofcharcoal mini-blast furnace plant’Trans. Inst. Min. Metall.2017C1261-2116123

B. Takacs and L. SimonA clinical virtual reality rehabilitation System for phobia treatment11th International Conference Information Visualization, IV’072007798806

S. Sozzi, A. Monti, D. Nunzio, M. C. Do, and M. SchieppatiSensori-motor integration during stance: time adaptation of control mechanisms on adding or removing visionHum. Mov. Sci.2011302172189

G. Jin and S. NakayamaVirtual reality game for safety educationInternational Conference on Audio, Language and Image ProcessingShanghai201495100

S. Benford, J. Bowers, L. E. Fahlén, and C. GreenhalghManaging mutual awareness in collaborative virtual environmentsProc. the Conference on Virtual Reality Software and Technology1994223236

C. Carlsson and O. HagsandDIVE A multi-user virtual reality systemVirtual Reality Annual International Symposium1993394400

D. ReidThe influence of virtual reality on playfulness in children with cerebral palsy: a pilot studyOccup. Ther. Int.2004113131144

B. K. Wiederhold and M. D. WiederholdThree-year follow-up for virtual reality exposure for fear of flyingCyberpsychol. Behav.200364441445

J. McComas and H. SveistrupVirtual reality applications for prevention, disability awareness, and physical therapy rehabilitation in neurology: our recent workJ. Neurol. Phys. Ther.20022625561

B. C. Becker, R. A. MacLachlan, L. A. Lobes, G. D. Hager, and C. N. RiviereVision-based control of a handheld surgical micromanipulator with virtual fixturesIEEE Trans. Robot.2014293674683

T. Y. Fang, P. C. Wang, C. H. Liu, M. C. Su, and S. C. YehEvaluation of a haptics-based virtual reality temporal bone simulator for anatomy and surgery trainingComput. Methods Programs Biomed.20141132674681

S. G. Kang, B. J. Ryu, K. S. Yang, Y. H. Ko, S. Cho, S. H. Kang, R. Patel, and J. CheonAn effective repetitive training schedule to achieve skill proficiency using a novel robotic virtual reality simulatorJ. Surg. Educ.2015723369376

O. Ossmy and R. MukamelShort term motor-skill acquisition improves with size of self-controlled virtual handsPloS One20171210168520

I. KapandjiThe physiology of the joints: Upper limb. ChurchillChurchill Livingstone19832

Cited By

OSA participates in Crossref's Cited-By Linking service. Citing articles from OSA journals and other participating publishers are listed here.