Navigating peripersonal space requires reaching targets in both horizontal (e.g., desks) and vertical (e.g., shelves) layouts with high precision. We developed a haptic glove to aid peri-personal target navigation and investigated the effectiveness of different feedback delivery methods. Twenty-two participants completed target navigation tasks under various conditions, including scene layout (horizontal or vertical), guidance approach (two-tactor or worst-axis first), guidance metaphor (push or pull), and intensity mode (linear or zone) for conveying distance cues. Task completion time, hand trajectory distance, and the percentage of hand trajectory in a critical area were measured as performance outcomes, along with subjective feedback. Participants achieved significantly faster task completion times and covered less hand trajectory distance in the horizontal layout, worst-axis first approach, and pull metaphor conditions. Additionally, male participants demonstrated superior performance and reported lower levels of frustration compared to their female counterparts throughout the study. Intensity mode had no significant effect on the results. In summary, vibrating one tactor at a time (worst-axis first) and using the pull metaphor were the most effective methods of delivering vibrotactile feedback for peripersonal target navigation in both horizontal and vertical settings. Findings from this work can guide future development of haptic gloves for individuals with vision impairments, environments with visual limitations, and for accessibility and rehabilitation applications.

翻译：在近身空间中导航需要高精度地触及水平（如桌面）和垂直（如货架）布局中的目标。我们开发了一种用于辅助近身目标导航的触觉手套，并研究了不同反馈传递方法的有效性。22名参与者在多种条件下完成了目标导航任务，包括场景布局（水平或垂直）、引导方式（双驱动器优先或最差轴优先）、引导隐喻（推或拉）以及用于传递距离线索的强度模式（线性或分区）。研究测量了任务完成时间、手部轨迹距离以及手部轨迹在关键区域内的百分比作为性能指标，并收集了主观反馈。参与者在水平布局、最差轴优先引导方式和拉隐喻条件下，任务完成时间显著更快，手部轨迹距离更短。此外，在整个研究过程中，男性参与者表现出更优的性能，并报告了比女性参与者更低的挫败感水平。强度模式对结果没有显著影响。总之，在水平和垂直场景中，每次振动一个驱动器（最差轴优先）并使用拉隐喻是传递振动触觉反馈以进行近身目标导航的最有效方法。本工作的发现可为未来开发适用于视障人士、视觉受限环境以及辅助与康复应用的触觉手套提供指导。