A multi-sensory experience of touch for TechnoSapiens

A multi-sensory experience of touch for TechnoSapiens | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article A multi-sensory experience of touch for TechnoSapiens Carsten Rudolph, Thomas Kronfeld, Maximilian Bretschneider, Guido Brunnett, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6345508/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract The TechnoSapiens system was developed as a platform for conducting psychological experiments on the self- and other-perceptions of users of bionic technologies in AR (Rudolph et al. (2024)). Using diminished reality (DR) techniques, this system visually replaces the user’s arm with a bionic prosthesis model that is intuitively controlled by hand and arm movements. However, due to the lack of haptic feedback, users experienced difficulties in interacting with virtual objects. In the present work, we report on the extension of TechnoSapiens to provide a multi-sensory interaction experience that incorporates visual and haptic feedback. To this end, we have developed a novel data glove that provides haptic feedback and meets the requirements of the DR system. In addition, we use a physics simulation to prevent the prosthesis from penetrating virtual objects during interaction, i.e., together with the haptic feedback, we provide appropriate visual feedback of touching an object. We conduct a user study showing that this multi-sensory feedback improves the sense of body ownership, immersion, and self-presence. We provide source code for the data glove micro-controller and the Unity3D integration. Mixed reality Augmented reality Human computer interaction Haptic devices Social perception Stereotyping Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6345508","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":497604768,"identity":"a0940e77-46d5-43a4-86ae-2baedd2dbb76","order_by":0,"name":"Carsten Rudolph","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABdklEQVRIie2RP2vCQBTAXwicy7XZyhP/fYVIwC7Fz5IjEJdoBxdLSxsR0qU0q2I/hF3EzQsHdom7UAeLkKlDSleR5k9FK+3eIT+4g/e4H++9ewAZGf8cFVbAywSkVRISmqb1+OLRkez9W75TdOAaAVmNI4yU5FGq8L8VZu8UOFRgryj38/Vn2FnCed94XrHJsvFY6EnrK6t+e0p5bk2h3lLO5p4IN1ByEwX9Rg25H0BxYbZV5gdNpyjk6nxsIDmxpR4Fo50ftnTOKWgDO23GJOA5AhCtGjJHNB28nOW7YxmJAlLvZMvZ6NVSOUdgo2QCVQnk0NvulQZBg0TKXarQaLppoqjApqmCJqBn7xX9WxG7xqIqhVjRoyrpLIuAoD8TFGkQzyKqDhpytTt+yTvU6w6ewGD9uIrPUesnVRTXlMPOjShjLvqxj4moVPqG9NYdXyuVB4OH71Bn7tDSws7mouQeLAYg3bT0I3cUIvzGkZKRkZGRkfAFvD+WfwkF1DcAAAAASUVORK5CYII=","orcid":"","institution":"Chemnitz University of Technology","correspondingAuthor":true,"prefix":"","firstName":"Carsten","middleName":"","lastName":"Rudolph","suffix":""},{"id":497604769,"identity":"ad4df310-6777-4e15-bea3-e1c05097c1d7","order_by":1,"name":"Thomas Kronfeld","email":"","orcid":"","institution":"Chemnitz University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Thomas","middleName":"","lastName":"Kronfeld","suffix":""},{"id":497604770,"identity":"4e1c2cf5-1515-4198-8226-fe2d1d6ca3cc","order_by":2,"name":"Maximilian Bretschneider","email":"","orcid":"","institution":"Chemnitz University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Maximilian","middleName":"","lastName":"Bretschneider","suffix":""},{"id":497604771,"identity":"5fb81129-c9bf-419d-be04-5564bdbdf9b0","order_by":3,"name":"Guido Brunnett","email":"","orcid":"","institution":"Chemnitz University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Guido","middleName":"","lastName":"Brunnett","suffix":""},{"id":497604772,"identity":"396c5f05-77fa-4c1b-aa94-d158b1e8239d","order_by":4,"name":"Bertolt Meyer","email":"","orcid":"","institution":"Chemnitz University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Bertolt","middleName":"","lastName":"Meyer","suffix":""}],"badges":[],"createdAt":"2025-03-31 14:08:10","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6345508/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6345508/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":88821575,"identity":"55b28555-a025-453d-b7a1-377db20b51a5","added_by":"auto","created_at":"2025-08-11 17:48:56","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1621344,"visible":true,"origin":"","legend":"","description":"","filename":"DRHapticGlove.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6345508/v1_covered_a50348b9-337d-4e8c-95f3-2d6c49e7554c.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"A multi-sensory experience of touch for TechnoSapiens","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":true,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Mixed reality, Augmented reality, Human computer interaction, Haptic devices, Social perception, Stereotyping","lastPublishedDoi":"10.21203/rs.3.rs-6345508/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6345508/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"The TechnoSapiens system was developed as a platform for conducting psychological experiments on the self- and other-perceptions of users of bionic technologies in AR (Rudolph et al. 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