A novel two-dimensional tactile slip display: design, kinematics and perceptual experiments

Webster, Robert J.; Murphy, Todd E.; Verner, Lawton N.; Okamura, Allison M.

doi:10.1145/1060581.1060588

Cited by 78 publications

(39 citation statements)

References 15 publications

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“…Magnitude estimation tasks have also been used to characterize the perception of virtual object properties (e.g., roughness), as a function of environment parameters (e.g., probe type Jansson and Pieraccioli 2004]). Other groups have measured the discriminability of object properties (e.g., curvature) and used this as a metric [Lawrence et al 1996;Pao and Lawrence 1998;Wu et al 1999;Webster et al 2005]. Finally, some studies have begun to use metrics based on performance of more cognitive tasks such as object recognition, categorization, and similarity judgments [Tan et al 2000;Greenish et al 2002;Salada et al 2002].…”

Section: · 17mentioning

confidence: 99%

Multidimensional scaling analysis of haptic exploratory procedures

Cooke

Wallraven

Bülthoff

2010

ACM Trans. Appl. Percept.

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Previous work in real and virtual settings has shown that the way in which we interact with objects plays a fundamental role in the way we perceive them. This paper uses multidimensional scaling (MDS) analysis to further characterize and quantify the effects of using different haptic exploratory procedures (EPs) on perceptual representations. In Experiment 1, twenty subjects rated similarity on a set of nine novel, 3D objects varying in shape and texture after either following their contours, laterally rubbing their centers, gripping them, or sequentially touching their tips. MDS analysis was used to recover perceptual maps of the objects and relative weights of perceptual dimensions from similarity data. Both the maps and relative weights of shape/texture properties were found to vary as a function of the EP used. In addition, large individual differences in the relative weight of shape/texture were observed. In Experiment 2, 17 of the previous participants repeated Experiment 1 after an average of 105 days. The same patterns of raw similarity ratings, perceptual maps, dimension weights, and individual differences were observed, indicating that perceptual similarities remained stable over time. The findings underscore the role of hand movements and individual biases in shaping haptic perceptual similarity. A framework for validating multimodal virtual displays based on the approach used in the study is also presented.

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Section: · 17mentioning

confidence: 99%

Multidimensional scaling analysis of haptic exploratory procedures

Cooke

Wallraven

Bülthoff

2010

ACM Trans. Appl. Percept.

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“…Drewing et al [16] and Webster et al [15] discuss some basic guidelines for designing tactile displays. In particular, they place the greatest importance on matching human perception thresholds and miniaturization when designing devices for use in combination with tactile and kinesthetic feedback.…”

Section: Design Guidelines For Tactile Displaysmentioning

confidence: 99%

“…Webster et al also point out that the device's tactor velocities should be capable of exceeding maximum finger exploration velocities. They estimate a safe upper bound for tactor velocities of 30-40 cm/s [15]. The results of both of these studies were applied to their next generation of slip displays.…”

Section: Design Guidelines For Tactile Displaysmentioning

confidence: 99%

“…The results of the present study can be viewed as the most demanding specifications for combined tactile-kinesthetic haptic-feedback systems, including those that display slip (e.g., [21], [22], [15], [16]), tactile pin array (e.g., [22], [23]), contact orientation (e.g., [24], [25], [26]), and contact location [27].…”

Section: Design Guidelines For Tactile Displaysmentioning

confidence: 99%

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Human Detection and Discrimination of Tactile Repeatability, Mechanical Backlash, and Temporal Delay in a Combined Tactile-Kinesthetic Haptic Display System

Doxon

Johnson

Tan

et al. 2013

IEEE Trans. Haptics

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Abstract-Many of the devices used in haptics research are over-engineered for the task and are designed with capabilities that go far beyond human perception levels. Designing devices that more closely match the limits of human perception will make them smaller, less expensive, and more useful. However, many device-centric perception thresholds have yet to be evaluated. To this end, three experiments were conducted, using one degree-of-freedom contact location feedback device in combination with a kinesthetic display, to provide a more explicit set of specifications for similar tactile-kinesthetic haptic devices. The first of these experiments evaluated the ability of humans to repeatedly localize tactile cues across the fingerpad. Subjects could localize cues to within 1.3 mm and showed bias toward the center of the fingerpad. The second experiment evaluated the minimum perceptible difference of backlash at the tactile element. Subjects were able to discriminate device backlash in excess of 0.46 mm on low-curvature models and 0.93 mm on high-curvature models. The last experiment evaluated the minimum perceptible difference of system delay between user action and device reaction. Subjects were able to discriminate delays in excess of 61 ms. The results from these studies can serve as the maximum (i.e., most demanding) device specifications for most tactile-kinesthetic haptic systems.

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“…Salada et al conducted several studies that investigated the use of slip or sliding feedback in combination with kinesthetic motions [17]. Since then, others have also developed slip displays and integrated them with kinesthetic force feedback devices [7,18]. One of these studies has also investigated providing tactile feedback from a pin array in combination with kinesthetic feedback [7].…”

Section: Combined Tactile and Kinesthetic Feedbackmentioning

confidence: 99%

Force and contact location shading thresholds for smoothly rendering polygonal models

Doxon

Johnson

Tan

et al. 2010

2010 IEEE Haptics Symposium

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Providing tactile feedback in concert with kinesthetic information can dramatically improve one's ability to interact with and explore virtual environments. However, the addition of tactile feedback also enhances the saliency of the vertices and edges of polygonal objects, which are commonly used as model representations in haptic environments. When the polygonal model is an approximate representation of a smooth surface, the heightened response to discontinuities reduces the effectiveness of tactile feedback. This paper addresses this issue by developing a smoothing algorithm, which can be used to provide both tactile and force shading. To investigate the increased sensitivity and effectiveness of our algorithm we conducted four perceptual experiments. Each experiment differed by the type of haptic feedback and whether haptic shading was rendered. Participants were asked to discriminate between an ideal smooth cylinder and its polygonal approximation. The number of polygons used to render the comparison stimulus was increased until the two objects were indistinguishable. Our results are reported as the maximum recommended angular change between adjacent polygons for rending smooth objects. It was found that the addition of contact location feedback significantly increased the sensitivity of the user to the discontinuities present in polygonal models. Use of shading algorithms was able to significantly reduce the sensitivity to edges in the environment, which allows an increase in the angle between adjacent polygonal surfaces. Our results can be used as a guideline for constructing polygon models that are meant to feel smooth.

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A novel two-dimensional tactile slip display: design, kinematics and perceptual experiments

Cited by 78 publications

References 15 publications

Multidimensional scaling analysis of haptic exploratory procedures

Multidimensional scaling analysis of haptic exploratory procedures

Human Detection and Discrimination of Tactile Repeatability, Mechanical Backlash, and Temporal Delay in a Combined Tactile-Kinesthetic Haptic Display System

Force and contact location shading thresholds for smoothly rendering polygonal models

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