The Effect of Sensor/Actuator Asymmetries in Haptic Interfaces
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
Sensation preserving simplification for haptic rendering
ACM SIGGRAPH 2003 Papers
HCI Beyond the GUI: Design for Haptic, Speech, Olfactory, and Other Nontraditional Interfaces
HCI Beyond the GUI: Design for Haptic, Speech, Olfactory, and Other Nontraditional Interfaces
The Effects of Hand Motion on Haptic Perception of Force Direction
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Perception-centric force scaling function for stable bilateral interaction
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Improved multi-DOF haptics with spring drive amplifiers
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Evaluation of force and torque magnitude discrimination thresholds on the human hand-arm system
ACM Transactions on Applied Perception (TAP)
Real stiffness augmentation for haptic augmented reality
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
Expert Systems with Applications: An International Journal
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Despite a wealth of literature on discrimination thresholds for displacement, force magnitude, stiffness, and viscosity, there is currently a lack of data on our ability to discriminate force directions. Such data are needed in designing haptic rendering algorithms where force direction, as well as force magnitude, are used to encode information such as surface topography. Given that haptic information is typically presented in addition to visual information in a data perceptualization system, it is also important to investigate the extent to which the congruency of visual information affects force-direction discrimination. In this article, the authors report an experiment on the discrimination threshold of force directions under the three display conditions of haptics alone (H), haptics plus congruent vision (HVcong), and haptics plus incongruent vision (HVincong). Average force-direction discrimination thresholds were found to be 18.4°, 25.6°, and 31.9° for the HVcong, H and HVincong conditions, respectively. The results show that the congruency of visual information significantly affected haptic discrimination of force directions, and that the force-direction discrimination thresholds did not seem to depend on the reference force direction. The implications of the results for designing haptic virtual environments, especially when the numbers of sensors and actuators in a haptic display do not match, are discussed.