Park, Jaeyoung Oh, Yonghwan Tan, Hong Z. 2024-01-19T21:33:40Z 2024-01-19T21:33:40Z 2021-09-05 2018-10 1939-1412 https://pubs.kist.re.kr/handle/201004/120831 We investigate the effect of adding cutaneous cues to kinesthetic feedback on the perception of a virtual object's hardness. A cutaneous haptic interface is designed to deliver hardness information to a user's fingertip along with a force-feedback interface, and the corresponding rendering strategy is implemented. Two sets of experiments are conducted to evaluate the proposed approach for hardness perception using one-finger touch and two-finger grasp. Experimental results indicate that the addition of cutaneous feedback can make the virtual surface feel significantly harder than the nominal stiffness delivered by force-feedback alone. In addition, the perceived hardness is significantly affected by the rate of hardness rendered with a cutaneous interface for the nominal stiffness K = 0.3 and 0.5 N/mm. For two-finger grip, the effect of a virtual object's thickness has a significant effect on the perceived hardness measured in stiffness. When the perceived hardness is converted to Young's modulus, the effect of thickness is insignificant. English IEEE COMPUTER SOC HAPTIC PERCEPTION SENSORY SUBSTITUTION DISCRIMINATION FORCE TELEOPERATION AUGMENTATION INFORMATION SOFTNESS CONTACT DESIGN Effect of Cutaneous Feedback on the Perceived Hardness of a Virtual Object Article 10.1109/TOH.2018.2854721 1 IEEE TRANSACTIONS ON HAPTICS, v.11, no.4, pp.518 - 530 IEEE TRANSACTIONS ON HAPTICS 11 4 518 530 scie scopus 000454238800004 2-s2.0-85049808762 Computer Science, Cybernetics Computer Science Article HAPTIC PERCEPTION SENSORY SUBSTITUTION DISCRIMINATION FORCE TELEOPERATION AUGMENTATION INFORMATION SOFTNESS CONTACT DESIGN Hardness perception psychophysics tactile display haptic rendering stiffness