Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816155
Yoshihiro Tanaka, T. Hasegawa, Masatoshi Hashimoto, T. Igarashi
Tactile sensations are based on stimulation elicited on the skin through mechanical interaction between the skin and an object. It is important to consider skin properties in addition to the object. We developed a wearable skin vibration sensor and previously showed the availability for texture evaluations. However, the sensor output is not reproducible because human skin cannot maintain the same condition. Thus, we propose using artificial fingers. The artificial finger is worn on a human finger and the skin vibration sensor is wrapped on the artificial finger in the same way as the sensor would be mounted on a human finger. The artificial finger consists of a rigid base, a soft layer, and a thin layer having ridge on the surface, and can be easily exchanged to other finger with different properties. Experiments with different artificial fingers for particle surfaces show that the sensor output has a relation with particle size, and the height of the ridge influences the intensity of the sensor output and the groove width influences the peak frequency and the measuring range. Results indicate that the proposed artificial finger might be useful for tactile evaluations, reflecting different skin properties and customizing towards target objects and users.
{"title":"Artificial Fingers Wearing Skin Vibration Sensor for Evaluating Tactile Sensations*","authors":"Yoshihiro Tanaka, T. Hasegawa, Masatoshi Hashimoto, T. Igarashi","doi":"10.1109/WHC.2019.8816155","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816155","url":null,"abstract":"Tactile sensations are based on stimulation elicited on the skin through mechanical interaction between the skin and an object. It is important to consider skin properties in addition to the object. We developed a wearable skin vibration sensor and previously showed the availability for texture evaluations. However, the sensor output is not reproducible because human skin cannot maintain the same condition. Thus, we propose using artificial fingers. The artificial finger is worn on a human finger and the skin vibration sensor is wrapped on the artificial finger in the same way as the sensor would be mounted on a human finger. The artificial finger consists of a rigid base, a soft layer, and a thin layer having ridge on the surface, and can be easily exchanged to other finger with different properties. Experiments with different artificial fingers for particle surfaces show that the sensor output has a relation with particle size, and the height of the ridge influences the intensity of the sensor output and the groove width influences the peak frequency and the measuring range. Results indicate that the proposed artificial finger might be useful for tactile evaluations, reflecting different skin properties and customizing towards target objects and users.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"140 1","pages":"377-382"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78198893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816124
Diana Angelica Torres Guzman, B. Lemaire-Semail, Anis Kaci, F. Giraud, M. Amberg
In this paper, a psychophysical experiment is designed and setup to perform the comparison between lateral and normal ultrasonic vibration for friction modulation on haptic devices at the same vibration amplitudes. Thanks to a simple analytical modelling relying on mechanical contact, the results obtained are explained. A parametric analysis of this comparison is then performed.
{"title":"Comparison Between Normal and Lateral Vibration on Surface Haptic Devices","authors":"Diana Angelica Torres Guzman, B. Lemaire-Semail, Anis Kaci, F. Giraud, M. Amberg","doi":"10.1109/WHC.2019.8816124","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816124","url":null,"abstract":"In this paper, a psychophysical experiment is designed and setup to perform the comparison between lateral and normal ultrasonic vibration for friction modulation on haptic devices at the same vibration amplitudes. Thanks to a simple analytical modelling relying on mechanical contact, the results obtained are explained. A parametric analysis of this comparison is then performed.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"104 1","pages":"199-204"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76322029","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816165
Hyungki Son, Inwook Hwang, Tae-Heon Yang, Seungmoon Choi, Sang-Youn Kim, Jin Ryong Kim
We present RealWalk, a pair of haptic shoes for HMD-based VR, designed to create realistic sensations of ground surface deformation and texture through MR fluid actuators. RealWalk offers a novel interaction scheme through the physical interaction between the shoes and the ground surfaces while walking in VR. Each shoe consists of two MR fluid actuators, an insole pressure sensor, and a foot position tracker. When a user steps on the ground with the shoes, the two MR fluid actuators are depressed, creating a variety of ground material deformation such as snow, mud, and dry sand by changing its viscosity. We build an interactive VR application and compare RealWalk with vibrotactile-based haptic shoes to investigate its effectiveness. We report that, compared to vibrotactile-haptic shoes, RealWalk provides higher ratings for discrimination, realism, and satisfaction. We also report qualitative user feedback for their experiences.
{"title":"RealWalk: Haptic Shoes Using Actuated MR Fluid for Walking in VR","authors":"Hyungki Son, Inwook Hwang, Tae-Heon Yang, Seungmoon Choi, Sang-Youn Kim, Jin Ryong Kim","doi":"10.1109/WHC.2019.8816165","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816165","url":null,"abstract":"We present RealWalk, a pair of haptic shoes for HMD-based VR, designed to create realistic sensations of ground surface deformation and texture through MR fluid actuators. RealWalk offers a novel interaction scheme through the physical interaction between the shoes and the ground surfaces while walking in VR. Each shoe consists of two MR fluid actuators, an insole pressure sensor, and a foot position tracker. When a user steps on the ground with the shoes, the two MR fluid actuators are depressed, creating a variety of ground material deformation such as snow, mud, and dry sand by changing its viscosity. We build an interactive VR application and compare RealWalk with vibrotactile-based haptic shoes to investigate its effectiveness. We report that, compared to vibrotactile-haptic shoes, RealWalk provides higher ratings for discrimination, realism, and satisfaction. We also report qualitative user feedback for their experiences.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"14 1","pages":"241-246"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84919519","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816080
Esther I. Zoller, P. Cattin, A. Zam, G. Rauter
Orientational misalignment between the master and slave devices in teleoperation leads to decreased task performance. Such a misalignment occurs for example when indexing is applied to rotational degrees of freedom of the master device. In this context, the handle of the telemanipulator on the master side seems to play a crucial role and should be designed in a way that allows users to reach the rotational workspace necessary for the task at hand. Therefore, in this study we investigated the reachable rotational workspace for and the usability of different grasp type handles mounted to a lambda.6 device. We could show a clear difference in the functional rotational workspace that nine naive participants could reach with nine different grasp type handles. For example, the biggest pitch / yaw workspace was reached with the fixed hook and quadpod grasp handles. The differences between the handles were robust despite a high interpersonal variability for both the functional pitch / yaw and roll workspaces for many grasp type handles. According to these results, telemanipulator handles must be chosen carefully with respect to the target application.
{"title":"Assessment of the Functional Rotational Workspace of Different Grasp Type Handles for the lambda.6 Haptic Device*","authors":"Esther I. Zoller, P. Cattin, A. Zam, G. Rauter","doi":"10.1109/WHC.2019.8816080","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816080","url":null,"abstract":"Orientational misalignment between the master and slave devices in teleoperation leads to decreased task performance. Such a misalignment occurs for example when indexing is applied to rotational degrees of freedom of the master device. In this context, the handle of the telemanipulator on the master side seems to play a crucial role and should be designed in a way that allows users to reach the rotational workspace necessary for the task at hand. Therefore, in this study we investigated the reachable rotational workspace for and the usability of different grasp type handles mounted to a lambda.6 device. We could show a clear difference in the functional rotational workspace that nine naive participants could reach with nine different grasp type handles. For example, the biggest pitch / yaw workspace was reached with the fixed hook and quadpod grasp handles. The differences between the handles were robust despite a high interpersonal variability for both the functional pitch / yaw and roll workspaces for many grasp type handles. According to these results, telemanipulator handles must be chosen carefully with respect to the target application.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"1863 1","pages":"127-132"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89946139","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816101
Mitsuru Ito, Yuji Kokumai, H. Shinoda
In this study, we propose a method to create a quasi-click sensation in midair based on two types of tactile stimulation methods that create different sensations both in the intensity and quality. We consider two-layers of regions in the space that forms a virtual button. A user’s hand is tracked by a sensor and stimulated by the two methods according to the hand position. When the user’s hand is in the upper or lower layer, the hand skin is stimulated weakly or strongly by the two methods, respectively. These two states indicate a neutral position and action completion. This midair click was enabled by a recent finding where an ultrasound focus motion on the skin produced a stronger perception than amplitude modulation given at a constant position. We conducted experiments to confirm whether two haptic layers can be perceived. In addition, we investigated whether a blind operation of button selection can be performed.
{"title":"Midair Click of Dual-Layer Haptic Button","authors":"Mitsuru Ito, Yuji Kokumai, H. Shinoda","doi":"10.1109/WHC.2019.8816101","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816101","url":null,"abstract":"In this study, we propose a method to create a quasi-click sensation in midair based on two types of tactile stimulation methods that create different sensations both in the intensity and quality. We consider two-layers of regions in the space that forms a virtual button. A user’s hand is tracked by a sensor and stimulated by the two methods according to the hand position. When the user’s hand is in the upper or lower layer, the hand skin is stimulated weakly or strongly by the two methods, respectively. These two states indicate a neutral position and action completion. This midair click was enabled by a recent finding where an ultrasound focus motion on the skin produced a stronger perception than amplitude modulation given at a constant position. We conducted experiments to confirm whether two haptic layers can be perceived. In addition, we investigated whether a blind operation of button selection can be performed.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"4 1","pages":"349-352"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86545091","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816073
F. E. V. Beek, Raymond J. King, Casey Brown, Massimiliano Di Luca
In this study, we examined the contributions of kinesthetic and skin stretch cues, in isolation and together, to the static perception of weight. In two psychophysical experiments, we asked participants either to detect on which hand a weight was presented or to compare between two weight cues. Two closed-loop controlled haptic devices were used to present weights with a precision of 0.05g to an end-effector held in a pinch grasp. Our results show that combining skin stretch and kinesthetic information leads to better weight detection thresholds than presenting uni-sensory cues does. For supra-threshold stimuli, Weber fractions ranged from 22-44%. Kinesthetic information was less reliable for lighter weights, while both sources of information were equally reliable for weights up to 300g. Our data for lighter weights complied with an Optimal Integration model, while for heavier weights, measurements were closer to predictions from a Sensory Capture model. The difference might be accounted for by the presence of correlated noise across the two cues with heavier weights, which would affect model predictions such that all our data could be explained through an Optimal Integration model. Our experiments provide device-independent measures that can be used to inform, for instance, skin stretch device design.
{"title":"The contributions of skin stretch and kinesthetic information to static weight perception","authors":"F. E. V. Beek, Raymond J. King, Casey Brown, Massimiliano Di Luca","doi":"10.1109/WHC.2019.8816073","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816073","url":null,"abstract":"In this study, we examined the contributions of kinesthetic and skin stretch cues, in isolation and together, to the static perception of weight. In two psychophysical experiments, we asked participants either to detect on which hand a weight was presented or to compare between two weight cues. Two closed-loop controlled haptic devices were used to present weights with a precision of 0.05g to an end-effector held in a pinch grasp. Our results show that combining skin stretch and kinesthetic information leads to better weight detection thresholds than presenting uni-sensory cues does. For supra-threshold stimuli, Weber fractions ranged from 22-44%. Kinesthetic information was less reliable for lighter weights, while both sources of information were equally reliable for weights up to 300g. Our data for lighter weights complied with an Optimal Integration model, while for heavier weights, measurements were closer to predictions from a Sensory Capture model. The difference might be accounted for by the presence of correlated noise across the two cues with heavier weights, which would affect model predictions such that all our data could be explained through an Optimal Integration model. Our experiments provide device-independent measures that can be used to inform, for instance, skin stretch device design.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"96 1","pages":"235-240"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88313168","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816146
C. Parthiban, P. Dills, It Fufuengsin, Nick Colonnese, Priyanshu Agarwal, M. Zinn
Hybrid actuation approaches for haptic interfaces generally suffer from asymmetry in active and passive torque capabilities. This paper describes the design of a high-performance balanced hybrid haptic device, which addresses the asymmetry by combining a high-power, low-impedance active compliant actuation (series-elastic actuator) with energy absorbing high-force passive actuation in parallel with a fast, low-power secondary active actuation. We describe the actuation, design and control approaches and experimentally validate the approach with a one degree-of-freedom testbed. The performance is compared with active only approach and results show significant improvements in stability and rendering range of the device.
{"title":"A Balanced Hybrid Active-Passive Actuation Approach for High-Performance Haptics","authors":"C. Parthiban, P. Dills, It Fufuengsin, Nick Colonnese, Priyanshu Agarwal, M. Zinn","doi":"10.1109/WHC.2019.8816146","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816146","url":null,"abstract":"Hybrid actuation approaches for haptic interfaces generally suffer from asymmetry in active and passive torque capabilities. This paper describes the design of a high-performance balanced hybrid haptic device, which addresses the asymmetry by combining a high-power, low-impedance active compliant actuation (series-elastic actuator) with energy absorbing high-force passive actuation in parallel with a fast, low-power secondary active actuation. We describe the actuation, design and control approaches and experimentally validate the approach with a one degree-of-freedom testbed. The performance is compared with active only approach and results show significant improvements in stability and rendering range of the device.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"94 5 1","pages":"283-288"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87671486","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816095
Yasemin Vardar, C. Wallraven, K. J. Kuchenbecker
Both vision and touch contribute to the perception of real surfaces. Although there have been many studies on the individual contributions of each sense, it is still unclear how each modality’s information is processed and integrated. To fill this gap, we investigated the similarity of visual and haptic perceptual spaces, as well as how well they each correlate with fingertip interaction metrics. Twenty participants interacted with ten different real surfaces from the Penn Haptic Texture Toolkit by either looking at or touching them and judged their similarity in pairs. By analyzing the resulting similarity ratings using non-metric multi-dimensional scaling (NMDS), we found that surfaces are similarly organized within the three-dimensional perceptual spaces of both modalities. Also, between-participant correlations were significantly higher in the haptic condition. In a separate experiment, we obtained the contact forces and accelerations acting on one finger interacting with each surface in a controlled way. We analyzed the collected fingertip interaction data in both the time and frequency domains. Our results suggest that the three perceptual dimensions for each modality can be represented by roughness/smoothness, hardness/softness, and friction, and that these dimensions can be estimated by surface vibration power, tap spectral centroid, and kinetic friction coefficient, respectively.
{"title":"Fingertip Interaction Metrics Correlate with Visual and Haptic Perception of Real Surfaces","authors":"Yasemin Vardar, C. Wallraven, K. J. Kuchenbecker","doi":"10.1109/WHC.2019.8816095","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816095","url":null,"abstract":"Both vision and touch contribute to the perception of real surfaces. Although there have been many studies on the individual contributions of each sense, it is still unclear how each modality’s information is processed and integrated. To fill this gap, we investigated the similarity of visual and haptic perceptual spaces, as well as how well they each correlate with fingertip interaction metrics. Twenty participants interacted with ten different real surfaces from the Penn Haptic Texture Toolkit by either looking at or touching them and judged their similarity in pairs. By analyzing the resulting similarity ratings using non-metric multi-dimensional scaling (NMDS), we found that surfaces are similarly organized within the three-dimensional perceptual spaces of both modalities. Also, between-participant correlations were significantly higher in the haptic condition. In a separate experiment, we obtained the contact forces and accelerations acting on one finger interacting with each surface in a controlled way. We analyzed the collected fingertip interaction data in both the time and frequency domains. Our results suggest that the three perceptual dimensions for each modality can be represented by roughness/smoothness, hardness/softness, and friction, and that these dimensions can be estimated by surface vibration power, tap spectral centroid, and kinetic friction coefficient, respectively.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"103 1","pages":"395-400"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73390256","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816113
Steven C. Hauser, S. Nagi, S. McIntyre, A. Israr, H. Olausson, G. J. Gerling
Human-to-human touch conveys rich, meaningful social and emotional sentiment. At present, however, we understand neither the physical attributes that underlie such touch, nor how the attributes evoke responses in unique types of peripheral afferents. Indeed, nearly all electrophysiological studies use well-controlled but non-ecological stimuli. Here, we develop motion tracking and algorithms to quantify physical attributes – indentation depth, shear velocity, contact area, and distance to the cutaneous sensory space (receptive field) of the afferent – underlying human-to-human touch. In particular, 2-D video of the scene is combined with 3-D stereo infrared video of the toucher’s hand to measure contact interactions local to the receptive field of the receiver’s afferent. The combined and algorithmically corrected measurements improve accuracy, especially of occluded and misidentified fingers. Human subjects experiments track a toucher performing four gestures – single finger tapping, multi-finger tapping, multi-finger stroking and whole hand holding – while action potentials are recorded from a first-order afferent of the receiver. A case study with one rapidly-adapting (Pacinian) and one C-tactile afferent examines temporal ties between gestures and elicited action potentials. The results indicate this method holds promise in determining the roles of unique afferent types in encoding social and emotional touch attributes in their naturalistic delivery.
{"title":"From Human-to-Human Touch to Peripheral Nerve Responses","authors":"Steven C. Hauser, S. Nagi, S. McIntyre, A. Israr, H. Olausson, G. J. Gerling","doi":"10.1109/WHC.2019.8816113","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816113","url":null,"abstract":"Human-to-human touch conveys rich, meaningful social and emotional sentiment. At present, however, we understand neither the physical attributes that underlie such touch, nor how the attributes evoke responses in unique types of peripheral afferents. Indeed, nearly all electrophysiological studies use well-controlled but non-ecological stimuli. Here, we develop motion tracking and algorithms to quantify physical attributes – indentation depth, shear velocity, contact area, and distance to the cutaneous sensory space (receptive field) of the afferent – underlying human-to-human touch. In particular, 2-D video of the scene is combined with 3-D stereo infrared video of the toucher’s hand to measure contact interactions local to the receptive field of the receiver’s afferent. The combined and algorithmically corrected measurements improve accuracy, especially of occluded and misidentified fingers. Human subjects experiments track a toucher performing four gestures – single finger tapping, multi-finger tapping, multi-finger stroking and whole hand holding – while action potentials are recorded from a first-order afferent of the receiver. A case study with one rapidly-adapting (Pacinian) and one C-tactile afferent examines temporal ties between gestures and elicited action potentials. The results indicate this method holds promise in determining the roles of unique afferent types in encoding social and emotional touch attributes in their naturalistic delivery.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"25 1","pages":"592-597"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74377745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816178
P. Bodas, R. Friesen, Amukta Nayak, H. Tan, R. Klatzky
Four experiments used a programmable ultrasonic friction-modulation device to explore parameters that might be candidates for roughness modulation and to assess whether spatially modulated texture gradients could be discriminated by their direction of change. Candidate roughness parameters included frequency, amplitude and two implementations of local friction variation (noise). Amplitude, frequency, and noise all moderated roughness. Observed interactions between parameters could reflect peripheral or attentional effects. Directional discrimination of graded frictional changes was well above chance, but did not indicate accessible and reliable differentiation that could readily be exploited in use contexts.
{"title":"Roughness rendering by sinusoidal friction modulation: Perceived intensity and gradient discrimination*","authors":"P. Bodas, R. Friesen, Amukta Nayak, H. Tan, R. Klatzky","doi":"10.1109/WHC.2019.8816178","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816178","url":null,"abstract":"Four experiments used a programmable ultrasonic friction-modulation device to explore parameters that might be candidates for roughness modulation and to assess whether spatially modulated texture gradients could be discriminated by their direction of change. Candidate roughness parameters included frequency, amplitude and two implementations of local friction variation (noise). Amplitude, frequency, and noise all moderated roughness. Observed interactions between parameters could reflect peripheral or attentional effects. Directional discrimination of graded frictional changes was well above chance, but did not indicate accessible and reliable differentiation that could readily be exploited in use contexts.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"53 1","pages":"443-448"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80106211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：