Multi-cue haptic guidance through wearables for enhancing human ergonomics

: Wearable haptic systems can be easily integrated with the human body and represent an effective solution for a natural and unobtrusive stimulus delivery. These characteristics can open interesting perspectives for different applications, such as haptic guidance for human ergonomics enhancement, e.g. during human-robot collaborative tasks in industrial scenarios, where the usage of the visual communication channel can be problematic. In this work, we propose a wearable multi-cue system that can be worn at the arm level on both the two upper limbs, which conveys both squeezing stimuli (provided by an armband haptic device) and vibration, to provide corrective feedback for posture balancing along the user's frontal and sagittal plane, respectively. We evaluated the effectiveness of our system in delivering directional information to control the user's center of pressure position on a balancing board. We compared the here proposed haptic guidance with visual guidance cues. Results show no statistically significant differences in terms of success rate and time for task completion for the two conditions. Furthermore, participants underwent through a Subjective Quantitative Evaluation and a NASA-TLX test, evaluating the wearable haptic system as intuitive and effective