@article {8627855, title = {On the ability of humans to haptically identify and discriminate real and simulated objects}, journal = {Presence (USA)}, volume = {14}, number = {3}, year = {2005}, note = {real object;simulated object;human subject;haptic interface;haptic simulation;size-identification task;virtual surface stiffness;}, pages = {366 - 76}, abstract = {

The ability of human subjects to identify and discriminate between different-sized real objects was compared with their ability to identify and discriminate between different-sized simulated objects generated by a haptic interface. This comparison was additionally performed for cases of limited force and limited stiffness output from the haptic device, which in effect decrease the fidelity of the haptic simulation. Results indicate that performance of size-identification tasks with haptic-interface hardware capable of a minimum of 3 N of maximum force output can approach performance in real environments, but fails short when virtual surface stiffness is limited. For size-discrimination tasks, performance in simulated environments was consistently lower than performance in a comparable real environment. Interestingly, significant variations in the fidelity of the haptic simulation do not appear to significantly alter the ability of a subject to identify or discriminate between the types of simulated objects described herein

}, keywords = {Haptic interfaces, Virtual reality}, url = {http://dx.doi.org/10.1162/105474605323384690}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2005teleop.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} } @article {04338307919, title = {The effect of virtual surface stiffness on the haptic perception of detail}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {9}, number = {2}, year = {2004}, note = {

Virtual surface stiffness;Haptic perception;Design specifications;Haptic interface hardware;

}, pages = {448 - 454}, abstract = {

This brief presents a quantitative study of the effects of virtual surface stiffness in a simulated haptic environment on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross section ridges. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum level of virtual surface stiffness in the simulation increases. Further, test subjects appeared to reach a limit in their perception capabilities at maximum stiffness levels of 300 to 400 N/m, while the hardware was capable of 1000 N/m of maximum virtual surface stiffness. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of virtual surface stiffness. \© 2004 IEEE.

}, keywords = {Computer aided design, Computer hardware, Computer simulation, Degrees of freedom (mechanics), Manipulators, Object recognition, Sensory perception, Specifications, Stiffness, Surface properties, Virtual reality}, url = {http://dx.doi.org/10.1109/TMECH.2004.828625}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/44-09tmech02omalley-print.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} } @proceedings {7254453, title = {Comparison of human haptic size identification and discrimination performance in real and simulated environments}, year = {2002}, note = {

human performance;size identification;size discrimination;simulated environments;haptic interface;machine performance levels;machine parameters;sub-optimal virtual environment;real environment;perception tasks;perceptual information;machine quality;maximum end-point force;system bandwidth;time delay;

}, pages = {10 - 17}, address = {Orlando, FL, USA}, abstract = {

The performance levels of human subjects in size identification and discrimination experiments in both real and virtual environments are presented. The virtual environments are displayed with a three degree-of-freedom haptic interface, developed at Vanderbilt University. The results indicate that performance of the size identification and discrimination tasks in the virtual environment is comparable to that in the real environment, implying that the haptic device does a good job of simulating reality for these tasks. Additionally, performance in the virtual environment was measured at below-maximum machine performance levels for three machine parameters. The tabulated scores for the perception tasks in a sub-optimal virtual environment were found to be comparable to that in the real environment, supporting previous claims that haptic interface hardware may be able to convey, for these perceptual tasks, sufficient perceptual information to the user with relatively low levels of machine quality in terms of the following parameters: maximum end-point force, system bandwidth and time delay

}, keywords = {delay estimation, force feedback, Haptic interfaces, human factors, mechanoception, Virtual reality}, url = {http://dx.doi.org/10.1109/HAPTIC.2002.998935}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieeehumanhaptic.pdf}, author = {Marcia Kilchenman and Michael Goldfarb} } @article {02427145860, title = {The effect of force saturation on the haptic perception of detail}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {7}, number = {3}, year = {2002}, note = {Force saturation effect;Haptic perception;Force feedback;}, pages = {280 - 288}, abstract = {

This paper presents a quantitative study of the effects of maximum capable force magnitude of a haptic interface on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross-section ridges, in addition to corner detection tests. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum allowable level of force in the simulation increases. Further, all test subjects appeared to reach a limit in their perception capabilities at maximum-force output levels of 3-4 N, while the hardware was capable of 10 N of maximum continuous force output. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of force feedback. The data is compiled to aid those who wish to design a stylus-type haptic interface to meet certain requirements for the display of physical detail within a haptic simulation.

}, keywords = {Computer control systems, Computer simulation, Feedback control, Haptic interfaces, Identification (control systems), Nonlinear control systems, Virtual reality}, url = {http://dx.doi.org/10.1109/TMECH.2002.802725}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieee.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} } @proceedings {7379354, title = {The implications of surface stiffness for size identification and perceived surface hardness in haptic interfaces}, volume = {vol.2}, year = {2002}, note = {

surface stiffness;virtual surface stiffness;haptic perception;time delays;size identification;perceived surface hardness;haptic interfaces;

}, pages = {1255 - 60}, address = {Washington, DC, USA}, abstract = {

This paper presents a two-part study of the effects of virtual surface stiffness on haptic perception. First, size identification experiments were performed to determine the effects of system quality, in terms of surface stiffness, on the ability of a human to identify square cross-section ridges by size in a simulated environment. Then, discrimination experiments were performed to determine relationships between virtual surface stiffness and simulation quality in terms of perceived surface hardness. Results of experiments to test human haptic perception for varying virtual surface stiffnesses indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user at relatively low levels of virtual surface stiffness. Subjects, however, can perceive improvements in perceived simulated surface hardness as stiffness levels are increased in the range of achievable parameters for this hardware. The authors draw several conclusions about the allowable time delays in a haptic interface system based on the results of the surface stiffness experiments

}, keywords = {delays, Haptic interfaces, human factors, Virtual reality}, url = {http://dx.doi.org/10.1109/ROBOT.2002.1014715}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieeesurfacestiffness.pdf}, author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb} }