Manipulating Tangible Virtual Object Dynamics to Promote Learning of Precision Force Generation

Abstract

Robotic haptic devices combined with virtual reality offer novel opportunities to train fine force generation, an essential yet overlooked component of post-stroke rehabilitation. This study proposes that manipulating the dynamics of tangible virtual objects can be leveraged to train precise force control while engaging the somatosensory system. We conducted an experiment with fifty healthy participants who performed a curling-inspired task in which they stretched a virtual spring to generate a target release force to propel the stone to a predefined location. During training, the spring’s force–elongation relationship was modeled as either a linear or non-linear function, i.e., a Gaussian or antisymmetric Gaussian (AS-Gaussian) function with zero derivative at the release target force. Results indicate that the AS-Gaussian group consistently achieved higher force accuracy during training than the linear group, while the Gaussian group only outperformed the linear group toward the end of training. Analysis of personality traits revealed that higher Free Spirit scores were associated with poorer performance and reduced task exploration under Gaussian dynamics, whereas higher Transform-of-Challenge scores correlated with increased exploration. Despite these training effects, no significant differences in long-term retention were found across spring types or personality traits. Participants primarily relied on learned target elongation rather than target force, as evidenced by performance in a transfer task with a different stiffness but the same target force. While promising for sensory training, our findings highlight limitations that should be addressed before application in neurological populations, especially the reliance on positional cues and arm fatigue, among others.