Investigating the Role of Vibrotactile Cue Sequencing in Inducing Intuitive Wrist Motion from a Stationary Pose

Wearable haptic devices increasingly use vibrotactile feedback for user movement guidance, yet fundamental questions remain about how cue sequences impact induced user motion. This study systematically evaluates how cue sequencing in a wrist-worn vibrotactile device induces wrist rotation from a static starting position. Sixteen participants responded to ten different cue sequences (five clockwise/counterclockwise pairs, presented at random) while manipulating a haptic device in a controlled virtual environment. Results reveal three critical findings: first, inducing wrist rotation requires at least one vibrotactile stimulus on the opposite side of the wrist from where the sequence begins; second, overlapping tactor actuation intended to create smoother sensations counter-intuitively increases confusion and produces more lateral translation than sequential actuation; and third, clockwise and counterclockwise cue sequences elicit symmetrical user responses. Statistical analysis using Friedman tests and posthoc Wilcoxon signed-rank tests confirmed significant differences between cue sequences in both rotational and translational movement (p < 0.05). These findings provide evidence-based guidelines for designing vibrotactile cue sequences in wearable haptic systems where reliably inducing rotational motion in users can reduce cognitive load and improve task performance.