The Community for Technology Leaders
RSS Icon
Issue No.04 - October-December (2009 vol.2)
pp: 212-223
William R. Provancher , University of Utah, Salt Lake City
Nicholas D. Sylvester , University of Utah, Salt Lake City and IM Flash Technology Corp., Lehi
This research focuses on the relative importance of fingerpad skin stretch on the perception of friction. It is hypothesized that the perceived magnitude of friction rendered by traditional force feedback can be increased through the addition of fingertip skin stretch. Perceptual data are presented from two separate tests performed on nine male subjects. The first experiment determines the perceptual thresholds for friction based on a modified Karnopp friction model where friction is rendered as purely a kinesthetic resistance via a PHANToM force feedback device. JNDs of 0.056-0.150 corresponding to static coefficients for friction of \mu_s = 0.2\hbox{-}0.8 were established. The second experiment evaluates possible changes in the perceived friction magnitude due to imposing small amounts of tangential skin stretch (0.25-0.75 mm) to the fingerpad in combination with force feedback (kinesthetic resistance). Our results show that even these small amounts of skin stretch lead to a statistically significant increase in perceived friction ({\rm p} < 0.01). This significant finding will enable the hapticians to more realistically and accurately render friction via a combination of kinesthetic resistance and tactile feedback.
Tactile display, perception and psychophysics, haptic rendering, friction, skin stretch.
William R. Provancher, Nicholas D. Sylvester, "Fingerpad Skin Stretch Increases the Perception of Virtual Friction", IEEE Transactions on Haptics, vol.2, no. 4, pp. 212-223, October-December 2009, doi:10.1109/TOH.2009.34
[1] A. Frisoli, M. Bergamasco, S. Wu, and E. Ruffaldi, “Evaluation of Multipoint Contact Interfaces in Haptic Perception of Shapes,” Multi-Point Interaction with Real and Virtual Objects, Springer Tracts in Advanced Robotics, vol. 18, pp. 177-188, Springer, 2005.
[2] G. Cadoret and A.M. Smith, “Friction, Not Texture, Dictates Grip Forces Used during Object Manipulation,” J. Neurophysiology, vol. 75, no. 5, pp. 1963-1969, 1996.
[3] H. Olsson, K.J. Astrom, C.C. de Wit, M. Gafvert, and P. Lischinsky, “Friction Models and Friction Compensation,” Eur. J. Control (UK), vol. 4, no. 3, pp. 176-195, 1998.
[4] P.R. Dahl, “Solid Friction Damping of Mechanical Vibrations,” Am. Inst. of Aeronautics and Astronautics J., vol. 14, pp. 1675-1682, 1976.
[5] V. Hayward and B. Armstrong, “A New Computational Model of Friction Applied to Haptic Rendering,” Experimental Robotics VI, pp. 403-412, Springer, 2000.
[6] D. Karnopp, “Computer Simulation of Stick-Slip Friction in Mechanical Dynamic Systems,” Trans. ASME J. Dynamic Systems, Measurement and Control, vol. 107, no. 1, pp. 100-103, 1985.
[7] C. Richard and M.R. Cutkosky, “Friction Modeling and Display in Haptic Applications Involving User Performance,” Proc. IEEE Int'l Conf. Robotics and Automation (ICRA), vol. 1, pp. 605-611, 2002.
[8] A. Nahvi, J. Hollerbach, R. Freier, and D. Nelson, “Display of Friction in Virtual Environments Based on Human Finger Pad Characteristics,” Proc. 1998 ASME Int'l Congress and Exposition, vol. 64, pp. 179-184, 1998.
[9] A.M. Smith and S.H. Scott, “Subjective Scaling of Smooth Surface Friction,” J. Neurophysiology, vol. 75, no. 5, pp. 1957-1962, May 1996.
[10] J. Biggs and M.A. Srinivasan, “Tangential versus Normal Displacements of Skin: Relative Effectiveness for Producing Tactile Sensations,” Proc. 10th Haptics Symp., pp. 121-128, 2002.
[11] V. Hayward and M. Cruz-Hernandez, “Tactile Display Device Using Distributed Lateral Skin Stretch,” Proc. Eighth Haptics Symp., pp. 1309-1314, 2000.
[12] M. Fritschi, K. Drewing, R. Zopf, M. Ernst, and M. Buss, “Construction and Psychophysical Evaluation of a Novel Tactile Shear Force Display,” Proc. 13th IEEE Int'l Workshop Robot and Human Interactive Comm. (RO-MAN '04), Sept. 2004.
[13] K. Drewing, M. Fritschi, R. Zopf, M. Ernst, and M. Buss, “First Evaluation of a Novel Tactile Display Exerting Shear Force via Lateral Displacement,” ACM Trans. Applied Perception, vol. 2, no. 2, pp. 118-131, 2005.
[14] R.J. Webster, T.E. Murphy, L.N. Verner, and A.M. Okamura, “A Novel Two-Dimensional Tactile Slip Display: Design, Kinematics and Perceptual Experiments,” ACM Trans. Applied Perception, vol. 2, no. 2 pp. 150-165, 2005.
[15] N. Tsagarakis, T. Horne, and D. Caldwell, “Slip Aestheasis: A Portable 2d Slip/Skin Stretch Display for the Fingertip,” Proc. First World Haptics Conf., pp. 214-219, 2005.
[16] M. Fritschi, M. Ernst, and M. Buss, “Integration of Kinesthetic and Tactile Display—A Modular Design Concept,” Proc. 2006 EuroHaptics Conf., 2006.
[17] V. Hayward and D. Yi, “Change of Height: An Approach to the Haptic Display of Shape and Texture without Surface Normal,” Experimental Robotics VIII, Springer Tracts in Advanced Robotics 5, Siciliano, B. and Dario, P., eds., pp. 177-188, Springer Verlag, 2003.
[18] M. Salada, J.E. Colgate, P. Vishton, and E. Frankel, “An Experiment on Tracking Surface Features with the Sensation of Slip,” Proc. First World Haptics Conf., pp. 132-137, 2005.
[19] U. Norrsell and H. Olausson, “Human, Tactile, Directional Sensibility and Its Peripheral Origins,” Acta Physiologica Scandinavica, vol. 144, no. 2, pp. 155-161, 1992.
[20] W. Gould, C.J. VierckJr., and M. Luck, “Cues Supporting Recognition of the Orientation or Direction of Movement of Tactile Stimuli,” Proc. Second Int'l Symp. Skin Senses, pp. 63-78, Mar. 1979.
[21] L. Winfield, J. Glassmire, E. Colgate, and M. Peshkin, “Tpad: Tactile Pattern Display through Variable Friction Reduction,” Proc. Second World Haptics Conf., Mar. 2007.
[22] M. Biet, G. Casiez, F. Giraud, and B. Lemaire-Semail, “Discrimination of Virtual Square Gratings by Dynamic Touch on Friction Based Tactile Displays,” Proc. Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008 (Haptics '08), pp. 41-48, Mar. 2008.
[23] E.C. Chubb, J.E. Colgate, and M.A. Pehskin, “Shiverpad: A Device Capable of Controlling the Shear Force on a Bare Finger,” Proc. 2009 World Haptics Conf., pp. 18-23, Mar. 2009.
[24] B. Gleeson, S. Horschel, and W. Provancher, “Communication of Direction through Lateral Skin Stretch at the Fingertip,” Proc. 2009 World Haptics Conf., pp. 172-177, Mar. 2009.
[25] T.H. Massie and J.K. Salisbury, “The Phantom Haptic Interface: A Device for Probing Virtual Objects,” Proc. ASME Winter Meeting, Haptics Symp., Nov. 1994.
[26] W. Provancher, M. Cutkosky, K. Kuchenbecker, and G. Niemeyer, “Contact Location Display for Haptic Perception of Curvature and Object Motion,” Int'l J. Robotics Research, vol. 24, no. 9, pp. 691-702, 2005.
[27] J. Wang and V. Hayward, “In Vivo Biomechanics of the Fingerpad Skin under Local Tangential Traction,” J. Biomechanics, vol. 40, no. 4, pp. 851-860, Mar. 2007.
[28] G.A. Gescheider, Psychophysics: The Fundamentals. Lawrence Erlbaum Assoc., Inc., 1997.
[29] N. Sylvester, “Friction Perception and Tactile Feedback,” master's thesis, mechanical eng., Univ. of Utah, 2008.
[30] S.J. Biggs and M.A. Srinivasan, “Haptic Interfaces,” Handbook of Virtual Environments: Design, Implementation, and Applications, K. Stanney, ed., chapter 5, pp. 93-115, Lawrence Erlbaum Assoc., 2002.
16 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool