Title :
Force saturation, system bandwidth, information transfer, and surface quality in haptic interfaces
Author :
Kilchenman, Marcia ; Goldfarb, Michael
Author_Institution :
Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA
Abstract :
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 the 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.
Keywords :
force feedback; haptic interfaces; identification; simulation; force feedback; force saturation; haptic interfaces; haptic perception; identification; information transfer; simulation; surface quality; system bandwidth; Anthropometry; Bandwidth; Force feedback; Force measurement; Haptic interfaces; Hardware; Humans; Mechanical engineering; Psychology; Testing;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932803