Computational haptics: the sandpaper system for synthesizing texture for a force-feedback display
Computational haptics: the sandpaper system for synthesizing texture for a force-feedback display
The scientist and engineer's guide to digital signal processing
The scientist and engineer's guide to digital signal processing
Presence: Teleoperators and Virtual Environments
An Analysis of Perceptual Instability During Haptic Texture Rendering
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
Presence: Teleoperators and Virtual Environments
Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects
Presence: Teleoperators and Virtual Environments
Toward Realistic Haptic Rendering of Surface Textures
IEEE Computer Graphics and Applications
Force constancy and its effect on haptic perception of virtual surfaces
ACM Transactions on Applied Perception (TAP)
Perceived instability of virtual haptic texture. II. Effect of collision-detection algorithm.
Presence: Teleoperators and Virtual Environments
Toward realistic haptic rendering of surface textures
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Perceived Instability of Virtual Haptic Texture: III. Effect of Update Rate
Presence: Teleoperators and Virtual Environments
Haptic augmented reality: Taxonomy and an example of stiffness modulation
Presence: Teleoperators and Virtual Environments
Image-based haptic texture rendering
Proceedings of the 9th ACM SIGGRAPH Conference on Virtual-Reality Continuum and its Applications in Industry
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
Using sonification and haptics to represent overlapping spatial objects: effects on accuracy
UAHCI'13 Proceedings of the 7th international conference on Universal Access in Human-Computer Interaction: design methods, tools, and interaction techniques for eInclusion - Volume Part I
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This paper presents a quantitative characterization of the instability that a human user often experiences while interacting with a virtual textured surface rendered with a force-reflecting haptic interface. First, we quantified the degree of stability/ instability during haptic texture rendering through psychophysical experiments. The stiffness of the virtual textured surface upon detection of instability was measured under a variety of experimental conditions using two texture rendering methods, two exploration modes, and various texture model parameters. We found that the range of stiffness values for stable texture rendering was quite limited. Second, we investigated the attributes of the proximal stimuli experienced by a human hand while exploring the virtual textured surface in an attempt to identify the sources of perceived instability. Position, force, and acceleration were measured and then analyzed in the frequency domain. The results were characterized by sensation levels in terms of spectral intensity in dB relative to the human detection threshold at the same frequency. We found that the spectral bands responsible for texture and instability perception were well separated in frequency such that they excited different mechanoreceptors and were, therefore, perceptually distinctive. Furthermore, we identified the high-frequency dynamics of the device to be a likely source of perceived instability. Our work has implications for displaying textured surfaces through a force feedback device in a virtual environment.