The Community for Technology Leaders
RSS Icon
Subscribe
Issue No.02 - April-June (2009 vol.2)
pp: 85-93
Gianni Campion , McGill University, Montreal
Vincent Hayward , McGill University, Montreal
ABSTRACT
Calibrating displays can be a time-consuming process. We describe a fast technique for adjusting the subjective experience of roughness produced by different haptic texture synthesis algorithms. Its efficiency is due to the exponential convergence of the “modified binary search method” (mobs) applied to find points of subjective equivalence between virtual haptic textures synthesized by different algorithms. The method was applied to find the values of the coefficient of friction in a friction-based texture algorithm that yield the same perception of roughness as the normal-force variations of conventional texture synthesis algorithms. Our main result is a table giving the perceptual equivalence between parameters having different physical dimensions. A similar method could be applied to other perceptual dimensions provided that the controlling parameter be monotonically related to a subjective estimate.
INDEX TERMS
Haptic rendering, haptic textures, passivity, roughness.
CITATION
Gianni Campion, Vincent Hayward, "Fast Calibration of Haptic Texture Synthesis Algorithms", IEEE Transactions on Haptics, vol.2, no. 2, pp. 85-93, April-June 2009, doi:10.1109/TOH.2009.5
REFERENCES
[1] G.D. Legge, D.H. Parish, A. Luebker, and L.H. Wurm, “Psychophysics of Reading. xi. Comparing Color Contrast and Luminance Contrast,” J. Optical Soc. Am., A, vol. 7, no. 10, pp. 2002-2010, 1990.
[2] M. Stokes, M.D. Fairchild, and R.S. Berns, “Precision Requirements for Digital Color Reproduction,” ACM Trans. Graphics, vol. 11, no. 4, pp. 406-422, 1992.
[3] P. Seuntiens, L. Meesters, and W. Ijsselsteijn, “Perceived Quality of Compressed Stereoscopic Images: Effects of Symmetric and Asymmetric jpeg Coding and Camera Separation,” ACM Trans. Applied Perception, vol. 3, no. 2, pp. 95-109, 2006.
[4] T. Tolonen and H. Järveläinen, “Perceptual Study of Decay Parameters in Plucked String Synthesis,” Proc. 109th Convention Audio Eng. Soc., 2000.
[5] P. Leškovský, T. Cooke, M.O. Ernst, and M. Harders, “Using Multidimensional Scaling to Quantify the Fidelity of Haptic Rendering of Deformable Objects,” Proc. Eurohaptics, pp. 289-295, 2006.
[6] V. Hayward and O.R. Astley, “Performance Measures for Haptic Interfaces,” Proc. Robotics Research: The Seventh Int'l Symp., G.Giralt and G. Hirzinger, eds., pp. 195-207, 1996.
[7] Haptic Rendering: Foundations, Algorithms and Applications, M. Lin and M. Otaduy, eds. A. K. Peters, Ltd., 2008.
[8] P.P. Ho, B.D. Adelstein, and H. Kazerooni, “Judging 2D versus 3D Square-Wave Virtual Grating,” Proc. 12th Int'l Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.176-183, 2004.
[9] J.M. Weisenberger, M.J. Kreier, and M.A. Rinker, “Judging the Orientation of Sinusoidal and Square-Wave Virtual Gratings Presented via 2-DOF and 3-DOF Haptic Interfaces,” Haptics-e, vol. 1, no. 4, 2000.
[10] S. Choi and H.Z. Tan, “Perceived Instability of Virtual Haptic Texture. III. Effect of Update Rate,” Presence: Teleoperators and Virtual Environments, vol. 16, no. 3, pp. 263-278, 2007.
[11] W.M. Bergmann-Tiest and A.M.L. Kappers, “Analysis of Haptic Perception of Materials by Multidimensional Scaling and Physical Measurements of Roughness and Compressibility,” Acta Psychologica, vol. 121, no. 1, pp. 1-20, 2006.
[12] M. Hollins and S.J. Bensmaïa, “The Coding of Roughness,” Canadian J. Experimental Psychology/Rev. Canadienne de Psychologie Experimentale, vol. 61, no. 3, pp. 184-195, 2007.
[13] A.M. Smith, C.E. Chapman, M. Deslandes, J.S. Langlais, and M.P. Thibodeau, “Role of Friction and Tangential Force Variation in the Subjective Scaling of Tactile Roughness,” Experimental Brain Research, vol. 144, no. 2, pp. 211-223, 2002.
[14] M.A. Lawrence, R. Kitada, R.L. Klatzky, and S.J. Lederman, “Haptic Roughness Perception of Linear Gratings via Bare Finger or Rigid Probe,” Perception, vol. 36, no. 4, pp. 547-557, 2007.
[15] R.L. Klatzky and S.J. Lederman, “Tactile Roughness Perception with a Rigid Link Interposed between Skin and Surface,” Perception and Psychophysics, vol. 61, no. 4, pp. 591-607, 1999.
[16] S.J. Lederman, R.L. Klatzky, C.L. Hamilton, and G.I. Ramsay, “Perceiving Roughness via a Rigid Probe: Psychophysical Effects of Exploration Speed and Mode of Touch,” Haptics-e, vol. 1, 1999.
[17] S.J. Lederman, R.L. Klatzky, C. Hamilton, and M. Grindley, “Perceiving Surface Roughness through a Probe: Effects of Applied Force and Probe Diameter,” Proc. ASME Int'l Mechanical Eng. Congress and Exposition (IMECE) Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, vol. 69, no. 2, pp.1065-1071, 2000.
[18] R.L. Klatzky, S.J. Lederman, C. Hamilton, M. Grindley, and R.H. Swendsen, “Feeling Textures through a Probe: Effects of Probe and Surface Geometry and Exploratory Factors,” Perception and Psychophysics, vol. 65, no. 4, pp. 613-631, 2003.
[19] M. Hollins, S. Bensmaïa, K. Karlof, and F. Young, “Individual Differences in Perceptual Space for Tactile Textures: Evidence from Multidimensional Scaling,” Perception and Psychophysics, vol. 62, no. 8, pp. 1534-1544, Nov. 2000.
[20] G. Campion and V. Hayward, “Fundamental Limits in the Rendering of Virtual Haptic Textures,” Proc. First Joint Eurohaptics Conf. Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 263-270, 2005.
[21] G. Campion and V. Hayward, “On the Synthesis of Haptic Textures,” IEEE Trans. Robotics, vol. 24, no. 3, pp. 527-536, June 2008.
[22] G. Campion, A.H. Gosline, and V. Hayward, “Does Judgement of Haptic Virtual Texture Roughness Scale Monotonically with Lateral Force Modulation?” Proc. Eurohaptics, pp. 718-723, 2008.
[23] G. Campion, Q. Wang, and V. Hayward, “The Pantograph Mk II: A Haptic Instrument,” Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS '05), pp. 723-728, 2005.
[24] A.M. Smith, G. Gosselin, and B. Houde, “Deployment of Fingertip Forces in Tactile Exploration,” Experimental Brain Research, vol. 147, pp. 209-218, 2002.
[25] A.H.C. Gosline and V. Hayward, “Eddy Current Brakes for Haptic Interfaces: Design, Identification, and Control,” IEEE/ASME Trans. Mechatronics, vol. 13, no. 6, pp. 699-677, Dec. 2008.
[26] J.E. Colgate and G. Schenkel, “Passivity of a Class of Sampled-Data Systems: Application to Haptic Interfaces,” Proc. Am. Control Conf., pp. 3236-3240, 1994.
[27] C. Kaernbach, “Slope Bias of Psychometric Functions Derived from Adaptive Data,” Perception and Psychophysics, vol. 69, no. 8, pp. 1389-1398, 2001.
[28] R.A. Tyrrell and D.A. Owens, “A Rapid Technique to Assess the Resting States of the Eyes and Other Threshold Phenomena: The Modified Binary Search (mobs),” Behavior Research Methods, Instruments, and Computers, vol. 20, no. 2, pp. 137-141, 1988.
[29] A.J. Anderson and C.A. Johnson, “Comparison of the asa, mobs, and zest Threshold Methods,” Vision Research, vol. 46, no. 15, pp.2403-2411, 2006.
[30] V. Hayward and B. Armstrong, “A New Computational Model of Friction Applied to Haptic Rendering,” Experimental Robotics VI, P.Corke and J. Trevelyan, eds., pp. 403-412, 2000.
[31] J.C. Stevens and J.R. Harris, “The Scaling of Subjective Roughness and Smoothness,” J. Experimental Psychology, vol. 64, pp. 498-494, 1962.
18 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool