{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,7]],"date-time":"2026-07-07T12:27:29Z","timestamp":1783427249702,"version":"3.54.6"},"reference-count":53,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2024,10,23]],"date-time":"2024-10-23T00:00:00Z","timestamp":1729641600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["21H04883 22H03628 24KJ0926"],"award-info":[{"award-number":["21H04883 22H03628 24KJ0926"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Virtual Real."],"abstract":"<jats:p>This study aimed to develop an effective VR locomotion technique for walking through virtual environments with sloped ground. Thus, this paper presents a novel method for inducing the sensation of walking on a slope in walking-in-place (WIP) using ankle tendon electrical stimulation (TES), which induces the body tilt sensation. We conducted two experiments to evaluate the effectiveness of the proposed method. In Experiment 1, we evaluated the sensation of ascending and descending slopes induced by the proposed method in a setup where electricity flows when the feet are grounded by comparing it to the sensation on a real slope. Experiment 1 demonstrated a marginally significant effect of electrical stimulation on the sensation of ascending or descending slopes. We attributed this to the short duration of ankle TES and the influence of the user\u2019s interpretation of the ankle TES. Based on the findings, Experiment 2 was conducted in a setup where ankle TES was constantly applied. The results indicated that participants who focused on the subjective body tilt sensation elicited by TES and those unaware of the TES effect experienced an ascending sensation with an anterior ankle TES and a descending sensation with a posterior ankle TES. Conversely, those who focused on the tactile or force sensation induced by ankle TES experienced the opposite effect. Based on this finding, we have constructed an implementation guide for a WIP system that incorporates ankle TES to present the desired sensation of ascending or descending slopes in virtual environments.<\/jats:p>","DOI":"10.3389\/frvir.2024.1456202","type":"journal-article","created":{"date-parts":[[2024,10,23]],"date-time":"2024-10-23T04:59:07Z","timestamp":1729659547000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":5,"title":["Ankle tendon electrical stimulation to enhance sensation of walking on a slope in walking-in-place"],"prefix":"10.3389","volume":"5","author":[{"given":"Takashi","family":"Ota","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Keigo","family":"Matsumoto","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kazuma","family":"Aoyama","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tomohiro","family":"Amemiya","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Takuji","family":"Narumi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hideaki","family":"Kuzuoka","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2024,10,23]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"183985","DOI":"10.1109\/ACCESS.2019.2960409","article-title":"Swing-in-place (sip): a less fatigue walking-in-place method with side-viewing functionality for mobile virtual reality","volume":"7","author":"Ang","year":"2019","journal-title":"IEEE Access"},{"key":"B2","doi-asserted-by":"publisher","first-page":"10168","DOI":"10.1038\/srep10168","article-title":"Four-pole galvanic vestibular stimulation causes body sway about three axes","volume":"5","author":"Aoyama","year":"2015","journal-title":"Sci. Rep."},{"key":"B3","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3290605.3300661","article-title":"Around the (virtual) world: infinite walking in virtual reality using electrical muscle stimulation","author":"Auda","year":"2019"},{"key":"B4","doi-asserted-by":"publisher","first-page":"471","DOI":"10.1007\/BF00234916","article-title":"Perception of linear horizontal self-motion induced by peripheral vision (linearvection) basic characteristics and visual-vestibular interactions","volume":"23","author":"Berthoz","year":"1975","journal-title":"Exp. brain Res."},{"key":"B5","doi-asserted-by":"publisher","first-page":"24","DOI":"10.3390\/mti1040024","article-title":"The new era of virtual reality locomotion: a systematic literature review of techniques and a proposed typology","volume":"1","author":"Boletsis","year":"2017","journal-title":"Multimodal Technol. Interact."},{"key":"B6","doi-asserted-by":"publisher","first-page":"72","DOI":"10.3390\/mti6090072","article-title":"A typology of virtual reality locomotion techniques","volume":"6","author":"Boletsis","year":"2022","journal-title":"Multimodal Technol. Interact."},{"key":"B7","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-40477-1_23","volume-title":"A new approach to walking in place","author":"Bruno","year":"2013"},{"key":"B8","doi-asserted-by":"publisher","first-page":"1153","DOI":"10.1007\/s10055-021-00513-6","article-title":"Cybersickness in current-generation virtual reality head-mounted displays: systematic review and outlook","volume":"25","author":"Caserman","year":"2021","journal-title":"Virtual Real."},{"key":"B9","doi-asserted-by":"publisher","first-page":"1","DOI":"10.20870\/IJVR.2020.20.1.3183","article-title":"Literature review of locomotion techniques in virtual reality","volume":"20","author":"Cherni","year":"2020","journal-title":"Int. J. Virtual Real."},{"key":"B10","unstructured":"2018 international building Code\n            CouncilI. C.\n          2018"},{"key":"B11","doi-asserted-by":"crossref","first-page":"754","DOI":"10.1145\/3472749.3474784","article-title":"An aligned rank transform procedure for multifactor contrast tests","volume-title":"The 34th annual ACM symposium on user interface software and Technology","author":"Elkin","year":"2021"},{"key":"B12","doi-asserted-by":"publisher","DOI":"10.1109\/3DUI.2008.4476598","article-title":"Llcm-wip: low-latency, continuous-motion walking-in-place","author":"Feasel","year":"2008","journal-title":"2008 IEEE Symposium 3D User Interfaces"},{"key":"B13","first-page":"367","article-title":"Improving walking in place methods with individualization and deep networks","author":"Hanson","year":"2019"},{"key":"B14","doi-asserted-by":"publisher","first-page":"3210","DOI":"10.1109\/TVCG.2022.3228171","article-title":"Revisiting walking-in-place by introducing step-height control, elastic input, and pseudo-haptic feedback","volume":"30","author":"Hirao","year":"2024","journal-title":"IEEE Trans. Vis. Comput. Graph."},{"key":"B15","first-page":"498","article-title":"Shef-wip: walking-in-place based on step height and frequency for wider range of virtual speed","author":"Hirao","year":"2021"},{"key":"B16","doi-asserted-by":"crossref","DOI":"10.1145\/3544548.3580862","article-title":"Electrical, vibrational, and cooling stimuli-based redirected walking: comparison of various vestibular stimulation-based redirected walking systems","author":"Hwang","year":"2023"},{"key":"B17","unstructured":"Igroup presence questionnaire (ipq)2001"},{"key":"B18","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1145\/1186155.1186159","article-title":"Circulafloor","volume":"3","author":"Iwata","year":"2004","journal-title":"ACM SIGGRAPH 2004 Emerg. Technol."},{"key":"B19","doi-asserted-by":"publisher","first-page":"131","DOI":"10.1109\/VR.2001.913779","article-title":"Gait master: a versatile locomotion interface for uneven virtual terrain","author":"Iwata","year":"2001","journal-title":"Proc. IEEE Virtual Real. 2001"},{"key":"B20","doi-asserted-by":"publisher","first-page":"623","DOI":"10.1152\/physrev.1992.72.3.623","article-title":"Golgi tendon organs in mammalian skeletal muscle: functional properties and central actions","volume":"72","author":"Jami","year":"1992","journal-title":"Physiol. Rev."},{"key":"B21","doi-asserted-by":"crossref","DOI":"10.1145\/3411764.3445454","article-title":"Elevate: a walkable pin-array for large shape-changing terrains","author":"Je","year":"2021"},{"key":"B22","doi-asserted-by":"publisher","first-page":"111","DOI":"10.3390\/bioengineering8080111","article-title":"Simulation-based clarification of appropriate factors for presenting phosphene in two directions avoiding electrical interference","volume":"8","author":"Kanamaru","year":"2021","journal-title":"Bioengineering"},{"key":"B23","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3275476.3275483","article-title":"Leg-jack: generation of the sensation of walking by electrical and kinesthetic stimuli to the lower limbs","author":"Kaneko","year":"2018","journal-title":"SIGGRAPH Asia 2018 Emerg. Technol."},{"key":"B24","doi-asserted-by":"publisher","first-page":"203","DOI":"10.1207\/s15327108ijap0303_3","article-title":"Simulator sickness questionnaire: an enhanced method for quantifying simulator sickness","volume":"3","author":"Kennedy","year":"1993","journal-title":"Int. J. Aviat. Psychol."},{"key":"B25","first-page":"AH2019","article-title":"Detection threshold of the height difference between a visual and physical step","author":"Kobayashi","year":"2019"},{"key":"B26","doi-asserted-by":"publisher","first-page":"046009","DOI":"10.1088\/1741-2560\/10\/4\/046009","article-title":"Computational analysis shows why transcranial alternating current stimulation induces retinal phosphenes","volume":"10","author":"Laakso","year":"2013","journal-title":"J. neural Eng."},{"key":"B27","doi-asserted-by":"publisher","first-page":"056013","DOI":"10.1088\/1741-2560\/11\/5\/056013","article-title":"Multi-scale simulations predict responses to non-invasive nerve root stimulation","volume":"11","author":"Laakso","year":"2014","journal-title":"J. neural Eng."},{"key":"B28","doi-asserted-by":"publisher","first-page":"1276","DOI":"10.1016\/j.jbiomech.2006.05.023","article-title":"The effects of sloped surfaces on locomotion: an electromyographic analysis","volume":"40","author":"Lay","year":"2007","journal-title":"J. biomechanics"},{"key":"B29","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3102163.3102227","article-title":"Walking uphill and downhill: redirected walking in the vertical direction","author":"Matsumoto","year":"2017","journal-title":"ACM SIGGRAPH 2017 Posters"},{"key":"B30","doi-asserted-by":"publisher","first-page":"1584","DOI":"10.1145\/3084822.3084838","article-title":"Infinite stairs: simulating stairs in virtual reality based on visuo-haptic interaction","volume":"24","author":"Nagao","year":"2017","journal-title":"ACM SIGGRAPH 2017 Emerg. Technol"},{"key":"B31","doi-asserted-by":"publisher","first-page":"1584","DOI":"10.1109\/TVCG.2018.2793038","article-title":"Ascending and descending in virtual reality: simple and safe system using passive haptics","volume":"24","author":"Nagao","year":"2018","journal-title":"IEEE Trans. Vis. Comput. Graph."},{"key":"B32","doi-asserted-by":"publisher","first-page":"114","DOI":"10.1109\/WHC56415.2023.10224464","article-title":"Manipulation of body sway interpretation through kinesthetic illusion induced by ankles vibration","author":"Narita","year":"2023","journal-title":"2023 IEEE World Haptics Conf. (WHC)"},{"key":"B33","first-page":"37","article-title":"Walking in place through virtual worlds","author":"Nilsson","year":"2016"},{"key":"B34","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3180658","article-title":"Natural walking in virtual reality: a review","volume":"16","author":"Nilsson","year":"2018","journal-title":"Comput. Entertain."},{"key":"B35","first-page":"635","article-title":"Pseudojumpon: jumping onto steps in virtual reality","author":"Ogawa","year":"2022"},{"key":"B36","doi-asserted-by":"publisher","DOI":"10.2312\/egs.20011036","article-title":"Redirected walking","author":"Razzaque","year":"2001","journal-title":"Eurogr. 2001 - Short. Present. Eurogr. Assoc"},{"key":"B37","doi-asserted-by":"publisher","first-page":"2157","DOI":"10.1145\/2702123.2702253","article-title":"Level-ups: motorized stilts that simulate stair steps in virtual reality","volume":"20","author":"Schmidt","year":"2015","journal-title":"Proc. 33rd Annu. ACM Conf. Hum. Factors Comput. Syst."},{"key":"B38","doi-asserted-by":"publisher","first-page":"2783","DOI":"10.1007\/s00371-021-02179-2","article-title":"Toward virtual stair walking","volume":"37","author":"Seo","year":"2021","journal-title":"Vis. Comput. Int. J. Comput. Graph."},{"key":"B39","doi-asserted-by":"publisher","first-page":"1154","DOI":"10.1109\/VR.2019.8797960","article-title":"A study on the sense of burden and body ownership on virtual slope","author":"Shimamura","year":"2019","journal-title":"2019 IEEE Conf. Virtual Real. 3D User Interfaces (VR)"},{"key":"B40","doi-asserted-by":"publisher","first-page":"201","DOI":"10.1145\/210079.210084","article-title":"Taking steps: the influence of a walking technique on presence in virtual reality","volume":"2","author":"Slater","year":"1995","journal-title":"ACM Trans. Comput.-Hum. Interact."},{"key":"B41","doi-asserted-by":"publisher","first-page":"1138","DOI":"10.1177\/107118139704100292","article-title":"Cybersickness is not simulator sickness","volume":"41","author":"Stanney","year":"1997","journal-title":"Proc. Hum. Factors Ergonomics Soc. Annu. Meet."},{"key":"B42","doi-asserted-by":"publisher","first-page":"233","DOI":"10.1007\/978-981-10-4157-0_40","article-title":"Relationship between force sensation and stimulation parameters in tendon electrical stimulation","author":"Takahashi","year":"2016","journal-title":"AsiaHaptics"},{"key":"B43","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3281505.3283402","article-title":"Investigation on the cutaneous\/proprioceptive contribution to the force sensation induced by electrical stimulation above tendon","author":"Takahashi","year":"2018","journal-title":"Proc. 24th ACM Symposium Virtual Real. Softw. Technol."},{"key":"B44","doi-asserted-by":"publisher","first-page":"163","DOI":"10.3724\/SP.J.2096-5796.2019.0011","article-title":"Haptic interface using tendon electrical stimulation with consideration of multimodal presentation","volume":"1","author":"Takahashi","year":"2019","journal-title":"Virtual Real. and Intelligent Hardw."},{"key":"B45","doi-asserted-by":"publisher","DOI":"10.3389\/frvir.2022.800884","article-title":"Sensation of anteroposterior and lateral body tilt induced by electrical stimulation of ankle tendons","volume":"3","author":"Takahashi","year":"2022","journal-title":"Front. Virtual Real."},{"key":"B46","doi-asserted-by":"publisher","first-page":"782","DOI":"10.1121\/1.1910407","article-title":"Pest: efficient estimates on probability functions","volume":"41","author":"Taylor","year":"1967","journal-title":"J. Acoust. Soc. Am."},{"key":"B47","doi-asserted-by":"publisher","first-page":"435","DOI":"10.1016\/j.vrih.2021.08.008","article-title":"Virtual climbing: an immersive upslope walking system using passive haptics","volume":"3","author":"Wang","year":"2021","journal-title":"Virtual Real. and Intelligent Hardw."},{"key":"B48","doi-asserted-by":"publisher","first-page":"2974","DOI":"10.1109\/TMECH.2018.2871631","article-title":"Design and evaluation of a soft robotic smart shoe for haptic terrain rendering","volume":"23","author":"Wang","year":"2018","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"B49","doi-asserted-by":"publisher","first-page":"112145","DOI":"10.1109\/ACCESS.2021.3103598","article-title":"Haptic interfaces for virtual reality: challenges and research directions","volume":"9","author":"Wee","year":"2021","journal-title":"IEEE Access"},{"key":"B50","doi-asserted-by":"publisher","first-page":"51","DOI":"10.1109\/VR.2010.5444812","article-title":"Gud wip: gait-understanding-driven walking-in-place","volume":"2010","author":"Wendt","year":"2010","journal-title":"2010 IEEE Virtual Real. Conf. (VR)"},{"key":"B51","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1016\/0966-6362(96)82849-9","article-title":"Human balance and posture control during standing and walking","volume":"3","author":"Winter","year":"1995","journal-title":"Gait and Posture"},{"key":"B52","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1145\/1978942.1978963","article-title":"The aligned rank transform for nonparametric factorial analyses using only anova procedures","volume":"11","author":"Wobbrock","year":"2011","journal-title":"Proc. SIGCHI Conf. Hum. Factors Comput. Syst."},{"key":"B53","doi-asserted-by":"publisher","first-page":"228","DOI":"10.3758\/BF03214278","article-title":"The effect of visual-vestibular conflict on the latency of steady-state visually induced subjective rotation","volume":"30","author":"Wong","year":"1981","journal-title":"Percept. and Psychophys."}],"container-title":["Frontiers in Virtual Reality"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frvir.2024.1456202\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,23]],"date-time":"2024-10-23T04:59:12Z","timestamp":1729659552000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frvir.2024.1456202\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,10,23]]},"references-count":53,"alternative-id":["10.3389\/frvir.2024.1456202"],"URL":"https:\/\/doi.org\/10.3389\/frvir.2024.1456202","relation":{},"ISSN":["2673-4192"],"issn-type":[{"value":"2673-4192","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,10,23]]},"article-number":"1456202"}}