Comparisons of Interaction Techniques between Stroke Survivors and Healthy Subjects in a Haptic...

Collaborative Haptic Interactions

Michael Bowler – University of Hertfordshire

‘Phantom’ Haptic Device

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GoalsModes of collaboration

Understanding movement

Establish learning of the task

Influence design of future systems

Test networked haptics and model of collaboration for future work

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Sorting Blocks Box

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Virtual Environment

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Collaboration Protocol

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Experiment 1 - Haptic Collaboration

300+ participant over 3 days

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Experiment 2 – Home-Based Rehabilitation

4 stroke survivors

12-weeks of haptic assessment and exercise tasks

Participants have suffered some level of upper-limb impairment as a result of their stroke.

Participants >6 months post stroke, with no further strokes within the last 6 months.

Participants were not receiving any other therapy for hand and wrist function.

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Why home-based?Can be more effective at home

Can reduce costs

In the comfort of own home

Likely to exercise more frequently and with greater variability

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Shape PreferencesFour shapes: Box, Star-shaped block, Cylinder,

and a Sphere.

Two categories: curved sided, and flat sided.

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Shape PreferenceForce

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Shape PreferenceAccuracy

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Shape PreferenceWork

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Collaborative Forces

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Order Frequency – Left to Right

Star Cylinder Sphere Box0

2

4

6

8

10

12

14

1234

Star Cylinder Sphere Box0

10

20

30

40

50

60

70

80

90

1234

Stroke Group

Healthy Group

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Shape Preferences

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LimitationsThere was no continued/follow up which may

may have shown further increases in task performance and a demonstration of learned skill for the task for the healthy group.

Interaction pairs in the stroke group consisted of the participant and the investigator providing an interaction bias.

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ConclusionsDifferent shapes afford different

movements/interaction paradigms

Curved surfaced shapes can be used for fine motor skill practice

Flat sided shapes can be used for strength/stamina building exercises

AcknowledgmentsThis work has been conducted as part of a PhD

which has been funded by the EU FP7 framework projects:LIREC EC (Living with Robots and Interactive

Companions) http://lirec.euSCRIPT (Supervised Care and Rehabilitation

Involving Personal Tele-Robotics) http://scriptproject.eu