The nanomanipulator: a virtual-reality interface for a scanning tunneling microscope
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Perceived Instability of Virtual Haptic Texture. I. Experimental Studies
Presence: Teleoperators and Virtual Environments
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Overshoot Effect in Stiffness Perception Tasks during Hand Motion with Haptic Device
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Perceptual factors for interaction modeling using haptic device
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Human factors in haptic contact of pliable surfaces
Presence: Teleoperators and Virtual Environments
Adding tangential forces in lateral exploration of stiffness maps
HAID'11 Proceedings of the 6th international conference on Haptic and audio interaction design
Analysis of the JND of stiffness in three modes of comparison
HAID'11 Proceedings of the 6th international conference on Haptic and audio interaction design
Real stiffness augmentation for haptic augmented reality
Presence: Teleoperators and Virtual Environments
Perceptualizing a “haptic edge” with varying stiffness based on force constancy
ICAT'06 Proceedings of the 16th international conference on Advances in Artificial Reality and Tele-Existence
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The force-constancy hypothesis states that the user of a force-feedback device maintains a constant penetration force when stroking virtual surfaces in order to perceive their topography. The hypothesis was developed to address a real-world data perceptualization problem where the perception of surface topography was distorted when the surface stiffness was nonuniform. Two experiments were conducted. In Experiment I, we recorded the penetration depths of the probe tip while the user stroked two surfaces with equal height but different stiffness values. We found that the data could be quantitatively modeled by the force-constancy hypothesis when the virtual surfaces were neither too soft nor too hard. In Experiment II, we demonstrated that given two adjacent surfaces, their perceived height difference depended on both the surface stiffness values as well as the relative heights of the surfaces. Specifically, we showed that the higher but softer surface could be perceived to be lower, at the same height, or higher than the other surface, depending on how much higher it was than the other surface. The results were consistent with the predictions of the force-constancy hypothesis. Our findings underscore the importance of understanding the interplay of haptic rendering parameters.