World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
Sarthak Misra , Laboratory for Computational Sensing&Robotics, The Johns Hopkins University, Baltimore, MD, USA 21218
Philipp Fuernstahl , Virtual Reality in Medicine Group, Computer Vision Laboratory, ETH Zurich, 8092, Switzerland
K. T. Ramesh , Laboratory for Computational Sensing&Robotics, The Johns Hopkins University, Baltimore, MD, USA 21218
Allison M. Okamura , Laboratory for Computational Sensing&Robotics, The Johns Hopkins University, Baltimore, MD, USA 21218
Matthias Harders , Virtual Reality in Medicine Group, Computer Vision Laboratory, ETH Zurich, 8092, Switzerland
Simplified soft tissue models used in surgical simulations cannot perfectly reproduce all material behaviors. In particular, many tissues exhibit the Poynting effect, which results in normal forces during shearing of tissue and is only observed in nonlinear elastic material models. In order to investigate and quantify the role of the Poynting effect on material discrimination, we performed a multi-dimensional scaling (MDS) study. Participants were presented with several pairs of shear and normal forces generated by a haptic device during interaction with virtual soft objects. Participants were asked to rate the similarity between the forces felt. The selection of the material parameters — and thus the magnitude of the shear and normal forces — was based on a pre-study prior to the MDS experiment. It was observed that for nonlinear elastic tissue models exhibiting the Poynting effect, MDS analysis indicated that both shear and normal forces affect user perception.
K. T. Ramesh, S. Misra, P. Fuernstahl, M. Harders and A. M. Okamura, "Quantifying perception of nonlinear elastic tissue models using multidimensional scaling," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 570-575.