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Experiments were conducted using a novel tactile contact rendering device to explore important factors of the tactile contact event. The effects of contact velocity and event-based transient vibrations were explored. Our research was motivated by a need to better understand the perception of the tactile contact event and to develop a means of rendering stiff surfaces with a nonspecialized haptic device. A passive tactile display, suitable for mounting on a Phantom robot, was developed and is capable of rendering the tactile sensation of contact on a fingertip over a range of velocities commonly experienced during everyday manipulation and tactile exploration. Experiments were conducted with this device to explore how tactile contact dynamics affect the perceived stiffness of a virtual surface. It was found that contact velocity does not have a significant effect on perceived stiffness. These results can be explained by prior research that defines perceived hardness (akin to stiffness) in terms of rate-hardness. However, in agreement with prior literature with stylus-based studies, the addition of transient vibrations to the contact event can, in some cases, increase the perceived stiffness.
Haptic interfaces, Displays, Virtual environment, Force feedback, Imaging phantoms, Robot sensing systems, Rendering (computer graphics), Fingers, Vibrations, Psychology
"Exploration of Tactile Contact in a Haptic Display: Effects of Contact Velocity and Transient Vibrations", IEEE Transactions on Haptics, vol. 4, no. , pp. 88-99, April-June 2011, doi:10.1109/TOH.2010.26
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