%0 Journal Article %J Presence (USA) %D 2005 %T On the ability of humans to haptically identify and discriminate real and simulated objects %A O'Malley, M.K. %A Michael Goldfarb %K Haptic interfaces %K Virtual reality %X

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

%B Presence (USA) %V 14 %P 366 - 76 %G eng %U http://dx.doi.org/10.1162/105474605323384690 %> https://mahilab.rice.edu/sites/default/files/publications/omalley2005teleop.pdf %0 Journal Article %J IEEE/ASME Transactions on Mechatronics %D 2004 %T The effect of virtual surface stiffness on the haptic perception of detail %A O'Malley, M.K. %A Michael Goldfarb %K Computer aided design %K Computer hardware %K Computer simulation %K Degrees of freedom (mechanics) %K Manipulators %K Object recognition %K Sensory perception %K Specifications %K Stiffness %K Surface properties %K Virtual reality %X

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.

%B IEEE/ASME Transactions on Mechatronics %V 9 %P 448 - 454 %G eng %U http://dx.doi.org/10.1109/TMECH.2004.828625 %> https://mahilab.rice.edu/sites/default/files/publications/44-09tmech02omalley-print.pdf %0 Conference Proceedings %B Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002 %D 2002 %T Comparison of human haptic size identification and discrimination performance in real and simulated environments %A Marcia Kilchenman %A Michael Goldfarb %K delay estimation %K force feedback %K Haptic interfaces %K human factors %K mechanoception %K Virtual reality %X

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

%B Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002 %C Orlando, FL, USA %P 10 - 17 %G eng %U http://dx.doi.org/10.1109/HAPTIC.2002.998935 %> https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieeehumanhaptic.pdf %0 Journal Article %J IEEE/ASME Transactions on Mechatronics %D 2002 %T The effect of force saturation on the haptic perception of detail %A O'Malley, M.K. %A Michael Goldfarb %K Computer control systems %K Computer simulation %K Feedback control %K Haptic interfaces %K Identification (control systems) %K Nonlinear control systems %K Virtual reality %X

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.

%B IEEE/ASME Transactions on Mechatronics %V 7 %P 280 - 288 %G eng %U http://dx.doi.org/10.1109/TMECH.2002.802725 %> https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieee.pdf %0 Conference Proceedings %B Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) %D 2002 %T The implications of surface stiffness for size identification and perceived surface hardness in haptic interfaces %A O'Malley, M.K. %A Michael Goldfarb %K delays %K Haptic interfaces %K human factors %K Virtual reality %X

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

%B Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) %C Washington, DC, USA %V vol.2 %P 1255 - 60 %G eng %U http://dx.doi.org/10.1109/ROBOT.2002.1014715 %> https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieeesurfacestiffness.pdf %0 Conference Proceedings %B Proceedings - IEEE International Conference on Robotics and Automation %D 2001 %T Force saturation, system bandwidth, information transfer, and surface quality in haptic interfaces %A Marcia Kilchenman %A Michael Goldfarb %K Bandwidth %K Computer simulation %K Computer software %K Feedback %K Hardness %K Manipulators %X

This paper presents a two-part study of the effects of maximum endpoint force and system bandwidth on haptic perception. First, size identification experiments were performed to determine the effects of system quality, in terms of these two system parameters, 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 haptic interface machine parameters and simulation quality in terms of perceived surface hardness. Results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of force feedback and system bandwidth, yet subjects can perceive improvements in simulated surface quality as levels are further increased.

%B Proceedings - IEEE International Conference on Robotics and Automation %C Seoul %V 2 %P 1382 - 1387 %G eng %U http://dx.doi.org/10.1109/ROBOT.2001.932803 %> https://mahilab.rice.edu/sites/default/files/publications/omalley2001ieee.pdf %0 Conference Proceedings %B International Mechanical Engineering Congress and Exposition (ASME, DSC Division) %D 2000 %T Implications of haptic interface force saturation on the haptic display of detail %A Marcia Kilchenman %A Michael Goldfarb %B International Mechanical Engineering Congress and Exposition (ASME, DSC Division) %V 69-2 %P 1125-1131 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/kilchenman2000asme.pdf