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Issue No.02 - April-June (2011 vol.4)
pp: 134-146
Curt M. Salisbury , Stanford University, Stanford
R. Brent Gillespie , University of Michigan, Ann Arbor
Hong Z. Tan , Purdue University, West Lafayette
Federico Barbagli , Hansen Medical, Mountain View
J. Kenneth Salisbury , Stanford University, Stanford
ABSTRACT
In this paper, we extend the concept of the contrast sensitivity function—used to evaluate video projectors—to the evaluation of haptic devices. We propose using human observers to determine if vibrations rendered using a given haptic device are accompanied by artifacts detectable to humans. This determination produces a performance measure that carries particular relevance to applications involving texture rendering. For cases in which a device produces detectable artifacts, we have developed a protocol that localizes deficiencies in device design and/or hardware implementation. In this paper, we present results from human vibration detection experiments carried out using three commercial haptic devices and one high performance voice coil motor. We found that all three commercial devices produced perceptible artifacts when rendering vibrations near human detection thresholds. Our protocol allowed us to pinpoint the deficiencies, however, and we were able to show that minor modifications to the haptic hardware were sufficient to make these devices well suited for rendering vibrations, and by extension, the vibratory components of textures. We generalize our findings to provide quantitative design guidelines that ensure the ability of haptic devices to proficiently render the vibratory components of textures.
INDEX TERMS
Haptics, design, psychophysics, texture, evaluation of haptic devices, haptic contrast sensitivity function (HCSF).
CITATION
Curt M. Salisbury, R. Brent Gillespie, Hong Z. Tan, Federico Barbagli, J. Kenneth Salisbury, "What You Can't Feel Won't Hurt You: Evaluating Haptic Hardware Using a Haptic Contrast Sensitivity Function", IEEE Transactions on Haptics, vol.4, no. 2, pp. 134-146, April-June 2011, doi:10.1109/TOH.2011.5
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