Publications

@article{pena-perez_impact_2023,

title = {The Impact of Stiffness in Bimanual Versus Dyadic Interactions Requiring Force Exchange},

author = {Nuria Peña-Pérez and Sharah Abdul Mutalib and Jonathan Eden and Ildar Farkhatdinov and Etienne Burdet},

doi = {10.1109/TOH.2023.3274584},

issn = {2329-4051},

year  = {2023},

date = {2023-01-01},

urldate = {2023-01-01},

journal = {IEEE Transactions on Haptics},

pages = {1–6},

abstract = {During daily activities, humans routinely manipulate objects bimanually or with the help of a partner. This work explored how bimanual and dyadic coordination modes are impacted by the object's stiffness, which conditions inter-limb haptic communication. For this, we recruited twenty healthy participants who performed a virtual task inspired by object handling, where we looked at the initiation of force exchange and its continued maintenance while tracking. Our findings suggest that while individuals and dyads displayed different motor behaviours, which may stem from the dyad's need to estimate their partner's actions, they exhibited similar tracking accuracy. For both coordination modes, increased stiffness resulted in better tracking accuracy and more correlated motions, but required a larger effort through increased average torque. These results suggest that stiffness may be a key consideration in applications such as rehabilitation, where bimanual or external physical assistance is often provided.},

note = {Conference Name: IEEE Transactions on Haptics},

keywords = {bimanual control, Force, Grasping, human-human interaction, Monitoring, object stiffness, Target tracking, Task analysis, Torque, Virtual object manipulation, Wrist},

pubstate = {published},

tppubtype = {article}

}

@article{pena_perez_is_2022,

title = {Is a Robot Needed to Modify Human Effort in Bimanual Tracking?},

author = {Nuria Peña-Pérez and Jonathan Eden and Ekaterina Ivanova and Etienne Burdet and Ildar Farkhatdinov},

doi = {10.1109/LRA.2022.3183753},

issn = {2377-3766},

year  = {2022},

date = {2022-07-01},

urldate = {2022-07-01},

journal = {IEEE Robotics and Automation Letters},

volume = {7},

number = {3},

pages = {8069–8075},

abstract = {Robotic bimanual training can benefit from understanding how to modify human motor effort in bimanual tasks. We addressed this issue by carrying out a study to investigate whether and how penalizing the use of one hand could alter the hands’ effort distribution. Actuated haptic perturbations and alterations of the visual feedback of the right hand were tested on a bimanual tracking task with 16 healthy right-handed participants. For each feedback modality (haptic or visual), both a disturbance and a perturbation requiring additional effort from the right hand were implemented. The results showed that the participants were able to adjust to these four perturbations, and perceived them correctly as something that disturbed the dominant hand. Contrary to our expectations, the bimanual effort distribution changes induced by the haptic perturbations were not uniform across subjects. However, the visual disturbance induced most participants to use only their unperturbed left hand (with only 2/16 participants reporting a different behaviour). This suggests that a visual disturbance could be used to alter the effort distribution among the two hands. Clinical validation of these findings on hemiplegic patients may help simplify the design of robotic training interfaces.},

note = {Conference Name: IEEE Robotics and Automation Letters},

keywords = {design and human factors, Haptic interfaces, human-centered robo- tics, Perturbation methods, Rehabilitation robotics, Robots, Task analysis, Training, Visualization, Wrist},

pubstate = {published},

tppubtype = {article}

}