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8 results for “ultrasound haptics”
User Study Data for "Perception of Ultrasound Haptic Focal Point Motion"
<p>Data from two experiments about the perception of ultrasound haptic feedback.</p>
Shear Shock Waves Mediate Haptic Holography via Focused Ultrasound - Elastic Wave Simulations (Open Scanning Paths)
<p><strong>Elastic Wave Simulations - Open Scanning Paths</strong></p> <p>This dataset is part of a larger repository (DOI: 10.5281/zenodo.5248082) which houses links to the data used in the publication "Shear Shock Waves Mediate Haptic Holography via Focused Ultrasound" <a href="http://www.science.org/doi/10.1126/sciadv.adf2037">(Reardon et al., 2023)</a>. If you use these simulated data please cite our publication (<a href="http://www.science.org/doi/10.1126/sciadv.adf2037">http://www.science.org/doi/10.1126/sciadv.adf2037</a>) and the software package k-Wave (DOI: 10.1109/ULTSYM.2014.0037).</p> <p>This dataset contains the normal shear surface velocity in a cylindrical slab of tissue-like material excited by an acoustic source with a Gaussian spatial profile simulated via a pseudo-spectral numerical method. The data is provided as .mat files. The files are separated by the type of scanning path, the scanning speed of the acoustic source, and the parameters of the scanning path. Details of the simulation parameters can be found in our publication.</p> <p><strong>Line Paths</strong> - The acoustic source scanned along a linear trajectory at speeds ranging from 2 m/s to 12 m/s (scanning speed is indicated in the filename).</p> <p><strong>Zigzag Paths</strong> - The acoustic source scanned along a zigzag path on the surface of the simulated medium with x-axis scanning speed <em>v<sub>x</sub></em> = 3, 4, 5, 6 m/s. At all speeds, the ultrasound focus was modulated transverse to its primary motion direction at a speed, <em>v<sub>y</sub></em>, of +-2.5 m/s yielding a zigzag path (2 cm path width). The x-axis scanning speed is designated in the filename.</p> <p><strong>Letter Paths</strong> - The acoustic source scanned the a trajectory in the shape of the letter "Z." Scanning speeds ranged from 2 m/s to 12 m/s (scanning speed is designated in the filename).</p> <p><strong>Focus Control Rate</strong> - The acoustic source scanned along a linear trajectory at 7 m/s but at different focus control sample rates <em>f<sub>c</sub></em>. These paths amount to a courser sampling of the linear trajectory. In lieu of updating the location of the acoustic source at each timepoint in the simulation, we specified a rate at which the location of the acoustic source would be updated. We set <em>f<sub>c</sub></em> to approximately 0.7, 1.4, and 4.2 kHz (designated at the end of the filename as VeryCoarse, Coarse, and Fine, respectively). (Compare with Line_07, which has the finest path sampling and an *f<sub>c</sub>* of approximately 200 kHz.)</p> <p> </p> <p><strong>Data Fields</strong></p> <p><strong>surfaceData</strong> (NxNxM) - 3D array containing the normal shear velocity of the simulated medium (in m/s) on a NxN Cartesian grid of locations at M timepoints. The simulated tissue medium was cylindrical, so locations outside the circular top surface are NaN.</p> <p><strong>sourceSignals</strong> (NxNxQ) - 3D array containing the acoustic source distribution on the NxN Cartesian grid of locations used to excite the surface of the simulated tissue medium for Q timepoints.</p> <p><strong>sourceEnvelope</strong> (Qx1) - Vector containing the amplitude envelope that was applied to sourceSignals at each timestep Q</p> <p><strong>dt</strong> - The time between adjacent timepoints in seconds (i.e. fs = 1/dt)</p> <p><strong>dx/dy</strong> - The distance between adjacent grid locations in the x/y direction of the Cartesian grid (in m)</p>
Shear Shock Waves Mediate Haptic Holography via Focused Ultrasound
<p>This repository contains links to the data used in the publication "Shear Shock Waves Mediate Haptic Holography via Focused Ultrasound" (<a href="http://www.science.org/doi/10.1126/sciadv.adf2037">Reardon et al., 2023</a>). If you use these data please cite our publication found here: <a href="http://www.science.org/doi/10.1126/sciadv.adf2037">http://www.science.org/doi/10.1126/sciadv.adf2037</a>.</p> <p> </p> <p><strong>Abstract From Manuscript</strong></p> <p>Emerging holographic haptic interfaces focus ultrasound in air to enable their users to touch, feel, and manipulate three-dimensional virtual objects. However, current holographic haptic systems furnish tactile sensations that are diffuse and faint, with apparent spatial resolutions that are far coarser than would be theoretically predicted from acoustic focusing. Here, we show how the effective spatial resolution and dynamic range of holographic haptic displays are determined by ultrasound-driven elastic wave transport in soft tissues. Using time-resolved optical imaging and numerical simulations, we show that ultrasound-based holographic displays excite shear shock wave patterns in the skin. The spatial dimensions of these wave patterns can exceed nominal focal dimensions by more than an order of magnitude. Analyses of data from behavioral and vibrometry experiments indicate that shock formation diminishes perceptual acuity. For holographic haptic displays to attain their potential, techniques for circumventing shock wave artifacts, or for exploiting these phenomena, are needed.</p> <p> </p> <p><strong>Dataset Description</strong></p> <p>This dataset comprises surface velocity responses of materials to ultrasound-based holographic haptic displays. The dataset is split into three parts: numerical simulations on a tissue-like material, experimental measurements on a tissue phantom, and in vivo experimental measurements on a human hand. For details on our numerical and experimental procedure, please see our publication.</p> <p> </p> <p><strong>Elastic Wave Simulations</strong></p> <p>The elastic wave simulation dataset contains the surface velocity response of a tissue-like material to an acoustic source scanned across the medium surface and is split into two parts: closed scanning paths (circle and square paths) and open scanning paths (line, zigzag, and letter). These datasets can be found at the following DOIs: 10.5281/zenodo.7686542 and 10.5281/zenodo.7686550.</p> <p> </p> <p><strong>Vibrometry Measurements with Elastomer Plate</strong></p> <p>Data on our tissue phantom was captured via laser doppler vibrometer. This dataset contains the tissue phantom response to focused ultrasound scanned across the tissue phantom surface along linear and zigzag paths. This dataset can be found at the following DOI: 10.5281/zenodo.7686555.</p> <p> </p> <p><strong>Human Hand: Wave Patterns and Perception</strong></p> <p>In vivo measurements on the human hand were captured via laser doppler vibrometer. This dataset contains the skin response to focused ultrasound scanned in a zigzag path from the wrist to the distal end of digit 2 (and vice-versa) of a single participant. We also captured a behavioral dataset that assessed tactile motion direction discrimination. Participants reported the direction of scanning via a two-alternative forced-choice task. Written, informed consent was gathered from all participants in this study, and the protocol was approved by the human subjects committee of our institution. This dataset can be found at the following DOI: 10.5281/zenodo.7686561.</p>
Shear Shock Waves Mediate Haptic Holography via Focused Ultrasound - Elastic Wave Simulations (Closed Scanning Paths)
<p><strong>Elastic Wave Simulations - Closed Scanning Paths</strong></p> <p>This dataset is part of a larger repository (DOI: 10.5281/zenodo.5248082) which houses links to the data used in the publication "Shear Shock Waves Mediate Haptic Holography via Focused Ultrasound" (<a href="http://www.science.org/doi/10.1126/sciadv.adf2037">Reardon et al., 2023</a>). If you use these simulated data please cite our publication (<a href="http://www.science.org/doi/10.1126/sciadv.adf2037">http://www.science.org/doi/10.1126/sciadv.adf2037</a>) and the software package k-Wave (DOI: 10.1109/ULTSYM.2014.0037).</p> <p>This dataset contains the normal shear surface velocity in a cylindrical slab of tissue-like material excited by an acoustic source with a Gaussian spatial profile simulated via a pseudo-spectral numerical method. The data is provided as .mat files. The files are separated by the type of scanning path, the scanning speed of the acoustic source, and the parameters of the scanning path. Details of the simulation parameters can be found in our publication.</p> <p><strong>Circle Paths</strong> - The acoustic source was scanned at a constant linear speed along a circular trajectories with two different diameters - 1 cm and 3 cm (indicated in the filename) and for at least 2 pattern repetitions. The linear scanning speed ranged from 2 to 20 m/s and is designated in the filename.</p> <p><strong>Square Paths</strong> - The acoustic source was scanned at a constant speed along square trajectories with two different edge lengths - 1 cm and 3 cm (indicated in the filename) and for at least 2 pattern repetitions. The scan speed ranged from 2 m/s to 10 m/s and is designated in the filename.</p> <p> </p> <p><strong>Data Fields</strong></p> <p><strong>surfaceData</strong> (NxNxM) - 3D array containing the normal shear velocity of the simulated medium (in m/s) on a NxN Cartesian grid of locations at M timepoints. The simulated tissue medium was cylindrical, so locations outside the circular top surface are NaN</p> <p><strong>sourceSignals</strong> (NxNxQ) - 3D array containing the acoustic source distribution on the NxN Cartesian grid of locations used to excite the surface of the simulated tissue medium for Q timepoints</p> <p><strong>sourceEnvelope</strong> (Qx1) - Vector containing the amplitude envelope that was applied to sourceSignals at each timestep</p> <p><strong>nCycles</strong> - Number of pattern repetitions</p> <p><strong>dt</strong> - The time between adjacent timepoints in seconds (i.e. fs = 1/dt)</p> <p><strong>dx/dy</strong> - The distance between adjacent grid locations in the x/y direction of the Cartesian grid (in m)</p>
Shear Shock Waves Mediate Haptic Holography via Focused Ultrasound - Human Hand: Wave Patterns and Perception
<p><strong>Human Hand: Wave Patterns and Perception</strong></p> <p>This dataset is part of a larger repository (DOI: 10.5281/zenodo.5248082) which houses links to the data used in the publication "Shear Shock Waves Mediate Haptic Holography via Focused Ultrasound" (<a href="http://www.science.org/doi/10.1126/sciadv.adf2037">Reardon et al., 2023</a>). If you use these data please cite our publication (<a href="http://www.science.org/doi/10.1126/sciadv.adf2037">http://www.science.org/doi/10.1126/sciadv.adf2037</a>).</p> <p>This dataset contains the in vivo response of a single participant's hand to focused ultrasound (UHEV1, Ultrahaptics) scanned in a zigzag path from the wrist to the distal end of digit 2 (and vice-versa). The data is provided as .mat files. The files are separated via longitudinal scanning speed, <em>v<sub>l</sub></em> = 1, 2, 4, 7, 11 m/s. At all speeds, the ultrasound focus was modulated transverse to its primary motion direction at a speed, <em>v<sub>mod</sub></em> of +-2.5 m/s yielding a zigzag path (2 cm path width). The longitudinal speed is designated in the filename. The direction of scanning - either from the wrist to the distal end of digit 2 (Distal direction) or from the distal end of digit 2 to the wrist (Proximal direction) - is also designated in the filename. Written, informed consent was gathered from the participant in this study, and the protocol was approved by the human subjects committee of our institution. Details about our experimental procedure can be found in our publication.</p> <p>IMPORTANT - The data is the unprocessed output from a laser doppler vibrometer (PSV-500, Polytec). The data is NOT time-aligned and must be reconstructed using the reference signal and the map of the measurement locations.</p> <p> </p> <p><strong>Data Fields</strong></p> <p><strong>y</strong> (NxMx2) - 3D array containing the skin velocity normal to the laser doppler vibrometer (in m/s) at N measurement locations for M timepoints and 2 repetitions</p> <p><strong>ref</strong> (NxMx2) - 3D array containing a reference voltage signal taken from the ultrasound phased array. The beginning of the reference signal can be used to time-align each of the measurements and repetitions</p> <p><strong>fs</strong> - Laser doppler vibrometer sampling rate (in Hz)</p> <p><strong>measurementLocations</strong> (Nx3) - 3D locations on the hand (x,y,z; in m) for each of N measurement locations<br> <br> </p> <p> </p> <p><strong>BehavioralDataset.zip</strong></p> <p>Contains the responses from three different perception experiments on tactile motion direction discrimination. The experiments are provided in three separate files; the results are provided as a MATLAB table. Written, informed consent was gathered from all participants in this study, and the protocol was approved by the human subjects committee of our institution. Details about our experimental procedure can be found in our publication.</p> <p>In the first experiment, SSW_PrimaryDataset.mat, participants (N=12) identified the direction of the focused ultrasound as either moving from the wrist to the end of digit 2 (Distal direction) or from the end of digit 2 to the wrist (Proximal direction).</p> <p>The second experiment, SSW_SecondaryDataset-Zigzag.mat, was nearly identical to the first experiment, except we cyclically repeated the stimuli such that the total integrated time in which the stimulus was applied to the skin was approximately constant between all of the different scan speeds. The participants (N=3) identified the motion direction of the focused ultrasound as either "Distal" or "Proximal" under two conditions - one in which there was no delay between our cyclical repeats (No Delay condition) and a second in which there was a 500 ms time delay between subsequent repetitions (With Delay condition).</p> <p>The third file, SSW_SecondaryDataset-Circle.mat, presents the pilot results (N=1) of a similar tactile motion experiment, except with circular trajectories (radius 2.8 cm) drawn on the palm of the hand in either a clockwise or counterclockwise direction. The stimuli were also repeated cyclically (with and without delay between repetitions), similar to experiment two.</p> <p> </p> <p> </p> <p><strong>Table Fields - SSW_PrimaryDataset.mat</strong></p> <p><strong>Participant</strong> - Participant label</p> <p><strong>Speed</strong> - Longitudinal speed, *v<sub>l</sub>*, of the focused ultrasound stimulus (in m/s)</p> <p><strong>Response</strong> - Participant response as a binary 0 (Distal direction) or 1 (Proximal direction)</p> <p><strong>Direction</strong> - True direction of the stimulus as a binary 0 (Distal direction) or 1 (Proximal direction)</p> <p><strong>isCorrect</strong> - Indicates whether the participant's response matches the true stimulus direction</p> <p><strong>Repetition</strong> - Stimuli were block randomized and "Repetition" refers to how many times the participant has seen that specific stimulus</p> <p><strong>ResponseLabel </strong>- Participant response as either "Distal" or "Proximal"</p> <p><strong>DirectionLabel </strong>- True label of the stimulus as either "Distal" or "Proximal"</p> <p><strong>Plays</strong> - Number of times the participant felt the stimulus before selecting a response</p> <p> </p> <p><strong>Table Fields - SSW_SecondaryDataset-Zigzag.mat</strong></p> <p><strong>Participant</strong> - Participant label</p> <p><strong>Speed </strong>- Longitudinal speed, *v<sub>l</sub>*, of the focused ultrasound stimulus (in m/s)</p> <p><strong>Response </strong>- Participant response as a binary 0 (Distal direction) or 1 (Proximal direction)</p> <p><strong>Direction </strong>- True direction of the stimulus as a binary 0 (Distal direction) or 1 (Proximal direction)</p> <p><strong>isCorrect </strong>- Indicates whether the participant's response matches the true stimulus direction</p> <p><strong>Repetition </strong>- Stimuli were block randomized and "Repetition" refers to how many times the participant has seen that specific stimulus</p> <p><strong>ResponseLabel </strong>- Participant response as either "Distal" or "Proximal"</p> <p><strong>DirectionLabel </strong>- True label of the stimulus as either "Distal" or "Proximal"</p> <p><strong>Condition </strong>- Indicates the experimental condition ("NoDelay" or "WithDelay")</p> <p> </p> <p><strong>Table Fields - SSW_SecondaryDataset-Circle.mat</strong></p> <p><strong>Participant </strong>- Participant label</p> <p><strong>Speed </strong>- Linear speed of the focused ultrasound stimulus along the circular trajectory (in m/s)</p> <p><strong>Response </strong>- Participant response as a binary 0 (Counterclockwise direction) or 1 (Clockwise direction)</p> <p><strong>Direction </strong>- True direction of the stimulus as a binary 0 (Counterclockwise direction) or 1 (Clockwise direction)</p> <p><strong>isCorrect </strong>- Indicates whether the participant's response matches the true stimulus direction</p> <p><strong>Repetition </strong>- Stimuli were block randomized and "Repetition" refers to how many times the participant has seen that specific stimulus</p> <p><strong>ResponseLabel </strong>- Participant response as either "Counterclockwise" or "Clockwise"</p> <p><strong>DirectionLabel </strong>- True label of the stimulus as either "Counterclockwise" or "Clockwise"</p> <p><strong>Condition </strong>- Indicates the experimental condition ("NoDelay" or "WithDelay")</p>
User Study Data for "Enhancing Ultrasound Haptics with Parametric Audio Effects"
<p>Data from an experiment investigation the perception of ultrasound haptic and parametric audio stimuli, as described in a paper at ACM ICMI 2021.</p>
Shear Shock Waves Mediate Haptic Holography via Focused Ultrasound - Vibrometry Measurements with Elastomer Plate
<p><strong>Vibrometry Measurements with Elastomer Plate</strong></p> <p>This dataset is part of a larger repository (DOI: 10.5281/zenodo.5248082) which houses links to the data used in the publication "Shear Shock Waves Mediate Haptic Holography via Focused Ultrasound" <a href="http://www.science.org/doi/10.1126/sciadv.adf2037">(Reardon et al., 2023)</a>. If you use these data please cite our publication (<a href="http://www.science.org/doi/10.1126/sciadv.adf2037">http://www.science.org/doi/10.1126/sciadv.adf2037</a>).</p> <p>This dataset contains the response of a tissue phantom (Gelatin #2, Humimic) to focused ultrasound (UHEV1, Ultrahaptics). The data is provided as .mat files. The files are separated by scanning path (linear and zigzag trajectories) and scanning speed. Details about our experimental procedure can be found in our publication.</p> <p>IMPORTANT - The data provided is the unprocessed output from a laser doppler vibrometer (Ometron, model 8330). The data is NOT time-aligned and must be reconstructed using the reference signal and the map of the measurement locations.</p> <p> </p> <p><strong>Line Paths</strong> - Focused ultrasound scanned along a linear path on the surface of the tissue phantom at one of 5 speeds - 2 m/s, 4 m/s, 7 m/s, 11 m/s, and 15 m/s. The scanning speed is designated in the filename.</p> <p><strong>Zigzag Paths</strong> - Focused ultrasound scanned along a zigzag path on the surface of the tissue phantom with longitudinal scanning speed <em>v<sub>l</sub></em> = 3, 5 m/s. At both speeds, the ultrasound focus was modulated transverse to its primary motion direction at a speed, <em>v<sub>mod</sub></em>, of +-2.5 m/s yielding a zigzag path (2 cm path width). The longitudinal scanning speed is designated in the filename.</p> <p> </p> <p><strong>Data Fields</strong></p> <p><strong>y</strong> (MxN) - 2D array containing the tissue phantom velocity normal to the laser doppler vibrometer (in mm/s) for N measurement locations. All repetitions are included as a single time-domain signal of M timepoints</p> <p><strong>ref</strong> (MxN) - 2D array containing a reference voltage signal taken from the ultrasound phased array. Each of the N measured locations has a reference signal. The beginning of the reference signal identifies the start of a new repetition.</p> <p><strong>nRepetitions</strong> - Number of stimulus repetitions (reps can be averaged to improve the measurement signal-to-noise ratio).</p> <p><strong>fs</strong> - Laser doppler vibrometer sampling rate (in Hz)</p> <p><strong>measurementLocations</strong> (Nx2) - 2D measurement locations on the gelatin surface (x,y; in m) for each of N measurement locations</p>
User Study Data from "HaptiGlow: Helping Users Position their Hands for Better Mid-Air Gestures and Ultrasound Haptic Feedback"
<p>This dataset contains user study data from the experiment reported in our IEEE World Haptics Conference 2019 paper.</p>
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