Runar Unnthorsson

When two brief vibrotactile stimulations are sequentially applied to observers’ lower back, there is systematic mislocalization of the stimulation: if the second stimulation is of higher intensity than the first one, observers tend to respond that the second stimulation was above the first one, and vice versa when weak intensity stimulation follows a strong one. This haptic mislocalization effect has been called the intensity order illusion . In the original demonstration of the illusion, frequency and amplitude of the stimulation were inextricably linked so that changes in amplitude also resulted in changes in frequency. It is therefore unknown whether the illusion is caused by changes in frequency, amplitude or both. To test this, we performed a multifactorial experiment, where we used L5 actuators that allow independent manipulation of frequency and amplitude. This approach enabled us to investigate the effects of stimulus amplitude, frequency and location, and to assess any potential interactions among these factors. We report four main findings: (1) we were able to replicate the intensity order illusion with the L5 tactors; (2) the illusion mainly occurred in the upwards direction, or in other words, when strong stimulation following a weaker one occurred above or in the same location as the first stimulation; (3) the illusion did not occur when similar stimulation patterns were applied in the horizontal direction; and (4) the illusion was solely due to changes in amplitude, whereas changes in frequency (100 Hz vs 200 Hz) had no effect.

What are the effects of frequency variation of vibrotactile stimuli on localization acuity? The precise localization of vibrotactile stimuli is crucial for applications that are aimed at conveying vibrotactile information. In order to evaluate the ability to distinguish between vibrotactile stimuli based on their frequency and location on the forearm, we used a relative point localization method. Participants were presented with pairs of sequential vibrotactile stimuli at three possible locations on the forearm and asked to determine whether the second stimulation occurred at the same location as the first one in the pair or not. The stimulation frequency varied between 100 Hz, 150 Hz, 200 Hz and 250 Hz, which covers the range of frequencies that human observers are most sensitive to. The amplitude was kept constant. Our results revealed that the ability to discriminate between actuators remained unaffected by variations in the frequency of vibrotactile stimulation within the tested frequency range. The accuracy of the tactile discrimination task was heavily dependent on the location of the stimulation on the forearm, with the highest accuracy close to the wrist and elbow, locations that may serve as tactile anchor points. Our results highlight the critical role of stimulation location in precise vibrotactile localization and the importance of careful consideration of location in the design of forearm-mounted vibrotactile devices.

Seaweed can be a desirable source of renewable energy or fuel after it has been processed by combustion, thermochemical conversion by gasification, pyrolysis, or hydrothermal liquefaction (HTL) or biochemical conversion routes like anaerobic digestion (AD). This work explores how well the measured properties of seaweed pellets match the specifications for the various fuel and energy conversion options listed. Blends of hay, wood chips, sawdust, and seaweed were pelletized. Eight pellet blends with dominant seaweed content and minimum acceptable mechanical strength and stability were produced and their physical and chemical properties were reported. The seaweed pellets had an energy content of around 14 MJ/kg, and each pellet could withstand almost 200 N of compression force. Their water content was around 5% or less and their ash content was around 20–34%. According to the results, a higher wood content increased the energy content of the pellets. Among those properties measured in this project, none of them contradicted the typical specifications of combustion, HTL, and AD. However, the low water content and low strength of some pellet types were unable to meet the specifications for certain types of gasification and pyrolysis.