Effect of Cutaneous Feedback on the Perceived Hardness of a Virtual Object

Authors
Park, JaeyoungOh, YonghwanTan, Hong Z.
Issue Date
2018-10
Publisher
IEEE COMPUTER SOC
Citation
IEEE TRANSACTIONS ON HAPTICS, v.11, no.4, pp.518 - 530
Abstract
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.
Keywords
HAPTIC PERCEPTION; SENSORY SUBSTITUTION; DISCRIMINATION; FORCE; TELEOPERATION; AUGMENTATION; INFORMATION; SOFTNESS; CONTACT; DESIGN; HAPTIC PERCEPTION; SENSORY SUBSTITUTION; DISCRIMINATION; FORCE; TELEOPERATION; AUGMENTATION; INFORMATION; SOFTNESS; CONTACT; DESIGN; Hardness perception; psychophysics; tactile display; haptic rendering; stiffness
ISSN
1939-1412
URI
https://pubs.kist.re.kr/handle/201004/120831
DOI
10.1109/TOH.2018.2854721
Appears in Collections:
KIST Article > 2018
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