Park, Jae young Jaeha Kim Yonghwan Oh Hong Z. Tan 2024-01-12T06:13:45Z 2024-01-12T06:13:45Z 2022-01-14 2017-06-09 https://pubs.kist.re.kr/handle/201004/79509 Wearable glove type haptic interfaces are often required to be light weight, which constrains the actuator to exert low torques. This causes a virtual object to feel compliant, reducing the range of presented surface properties. To overcome the limitation, we propose to compensate the hardness of a virtual object with cutaneous feedback. A cutaneous haptic interface is designed to present the hardness to a user’s fingertip along with a force-feedback interface and the corresponding rendering strategy is proposed. Two experiments were conducted to evaluate the proposed approach for one-finger touch and two-finger grip for stiffness values under 0.3 N/mm. Experimental results indicate that the addition of cutaneous feedback led the virtual surface to feel significantly harder than the nominal stiffness felt by force-feedback alone. In addition, the perceived hardness was significantly affected by the rate of hardness rendered with cutaneous interface when the nominal stiffness was increased. English IEEE Compensation of perceived hardness of a virtual object with cutaneous feedback Conference 1 2017 IEEE World Haptic Conference, pp.101 - 106 2017 IEEE World Haptic Conference 101 106 GE 독일 뮌헨 2017-06-05 Proceedings of 2017 IEEE WHC 000426705900018 2-s2.0-85034271179