Science Robotics

Supplementary Materials

Supplementary Material for:

Controlling sensation intensity for electrotactile stimulation in human-machine interfaces

Aadeel Akhtar,* Joseph Sombeck, Brandon Boyce, Timothy Bretl

*Corresponding author. Email: aakhta3{at}illinois.edu

Published 25 April 2018, Sci. Robot. 3, eaap9770 (2018)
DOI: 10.1126/scirobotics.aap9770

This PDF file includes:

  • Note S1. The relationship between the electrode-skin interface impedance and resistance.
  • Note S2. The modeling experiment results are validated by previous studies.
  • Note S3. Only keeping I2T constant does not keep perceived sensation intensity constant.
  • Note S4. The point of convergence was computed using a grid search and gradient ascent.
  • Note S5. Use of a vibrotactile reference sensation is validated by consistent results.
  • Fig. S1. Validation of exp. 1 modeling results.
  • Fig. S2. Exp. 1 modeling results.
  • Fig. S3. Exp. 2A controller results (Ep versus Rp).
  • Fig. S4. Exp. 2A controller results (Q versus Rp).
  • Fig. S5. Exp. 2B controller results (Ep versus Rp, vibrotactile reference).
  • Fig. S6. Exp. 2B controller results (Q versus Rp, vibrotactile reference).
  • Fig. S7. Exp. 2C controller results (Ep versus Rp, stair ascent/descent).
  • Fig. S8. Exp. 2C controller results (Q versus Rp, stair ascent/descent).
  • Fig. S9. Methods for exp. 2 (controller experiments).
  • Legends for movies S1 and S2

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Exp. 3A response of controller in real time during electrode peeling/placing.
  • Movie S2 (.mp4 format). Exp. 3B response of controller in real time during exercise.

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