Doxon Andrew J, Johnson David E, Tan Hong Z, Provancher William R
IEEE Trans Haptics. 2013 Oct-Dec;6(4):453-63. doi: 10.1109/TOH.2013.50.
Many of the devices used in haptics research are over-engineered for the task and are designed with capabilities that go far beyond human perception levels. Designing devices that more closely match the limits of human perception will make them smaller, less expensive, and more useful. However, many device-centric perception thresholds have yet to be evaluated. To this end, three experiments were conducted, using one degree-of-freedom contact location feedback device in combination with a kinesthetic display, to provide a more explicit set of specifications for similar tactile-kinesthetic haptic devices. The first of these experiments evaluated the ability of humans to repeatedly localize tactile cues across the fingerpad. Subjects could localize cues to within 1.3 mm and showed bias toward the center of the fingerpad. The second experiment evaluated the minimum perceptible difference of backlash at the tactile element. Subjects were able to discriminate device backlash in excess of 0.46 mm on low-curvature models and 0.93 mm on high-curvature models. The last experiment evaluated the minimum perceptible difference of system delay between user action and device reaction. Subjects were able to discriminate delays in excess of 61 ms. The results from these studies can serve as the maximum (i.e., most demanding) device specifications for most tactile-kinesthetic haptic systems.
触觉研究中使用的许多设备在设计上针对该任务进行了过度优化，其具备的功能远远超出了人类感知水平。设计出更接近人类感知极限的设备将使其体积更小、成本更低且更实用。然而，许多以设备为中心的感知阈值尚未得到评估。为此，进行了三项实验，使用一个自由度的接触位置反馈设备与动觉显示器相结合，为类似的触觉 - 动觉触觉设备提供一套更明确的规格参数。其中第一项实验评估了人类在整个指腹上重复定位触觉线索的能力。受试者能够将线索定位在1.3毫米以内，并且表现出朝向指腹中心的偏差。第二项实验评估了触觉元件上反向间隙的最小可察觉差异。受试者能够在低曲率模型上辨别超过0.46毫米的设备反向间隙，在高曲率模型上辨别超过0.93毫米的反向间隙。最后一项实验评估了用户动作与设备反应之间系统延迟的最小可察觉差异。受试者能够辨别超过61毫秒的延迟。这些研究结果可作为大多数触觉 - 动觉触觉系统的最大（即最严格）设备规格参数。
