Perception of Compliant Environments through a Visual-Haptic Human System Interface

Perception of compliant environments through a human system interface with visual and proprioceptive feedback is investigated. Participants had to explore the virtual environment by gripping with two fingers. Haptically, compliance was generated by an admittance control scheme. Perception of compliance under conflicting multimodal information was analyzed using an adaptive staircase method. Inter alia, experiments showed that conflicts could be detected when compliances by both modalities differ more than 55%.