Peer Reviewed

This work seeks to design and evaluate haptic feedback for sequential gestural inputs, where mid-air hand gestures are used to express system commands. Nine haptic patterns are first designed leveraging metaphors. To pursue efficient interaction, we examine the trade-off between pattern duration and recognition accuracy and find that durations as short as 0.3s-0.5s achieve roughly 80%-90% accuracy. We then examine the haptic design for sequential inputs, where we vary when the feedback for each gesture is provided, along with pattern duration, gesture sequence length, and age. Results show that providing haptic patterns right after detected hand gestures leads to significantly more efficient interaction compared with concatenating all haptic patterns after the gesture sequence. Moreover, the number of gestures had little impact on performance, but age is a significant predictor. Our results suggest that immediate feedback with 0.3s and 0.5s pattern duration would be recommended for younger and older users respectively.

When humans socially interact with another agent (e.g., human, pet, or robot) through touch, they do so by applying varying amounts of force with different directions, locations, contact areas, and durations. While previous work on touch gesture recognition has focused on the spatio-temporal distribution of normal forces, we hypothesize that the addition of shear forces will permit more reliable classification. We present a soft, flexible skin with an array of tri-axial tactile sensors for the arm of a person or robot. We use it to collect data on 13 touch gesture classes through user studies and train a Convolutional Neural Network (CNN) to learn spatio-temporal features from the recorded data. The network achieved a recognition accuracy of 74% with normal and shear data, compared to 66% using only normal force data. Adding distributed shear data improved classification accuracy for 11 out of 13 touch gesture classes.