van Beek Femke Elise, Heck Dennis J F, Nijmeijer Henk, Bergmann Tiest Wouter M, Kappers Astrid M L
IEEE Trans Haptics. 2016 Jul-Sep;9(3):409-20. doi: 10.1109/TOH.2016.2567395. Epub 2016 May 12.
In tele-operation systems, damping is often injected to guarantee system stability during contact with hard objects. In this study, we used psychophysical experiments to assess the effect of adding damping on the user's perception of object hardness. In Experiments 1 and 2, combinations of stiffness and damping were tested to assess their effect on perceived hardness. In both experiments, two tasks were used: an in-contact task, starting at the object's surface, and a contact-transition task, including a free-air movement. In Experiment 3, the difference between inserting damping globally (equally throughout the workspace) and locally (inside the object only) was tested. In all experiments, the correlation between the participant's perceptual decision and force and position data was also investigated. Experiments 1 and 2 show that when injecting damping globally, perceived hardness slightly increased for an in-contact task, while it decreased considerably for a contact-transition task. Experiment 3 shows that this effect was mainly due to inserting damping globally, since there was a large perceptual difference between inserting damping globally and locally. The force and position parameters suggest that participants used the same force profile during the two movements of one trial and assessed the system's reaction to this force to perceive hardness.
在遥操作（远程操作）系统中，通常会注入阻尼以确保在与硬物体接触时系统的稳定性。在本研究中，我们通过心理物理学实验来评估添加阻尼对用户物体硬度感知的影响。在实验1和实验2中，对刚度和阻尼的组合进行了测试，以评估它们对感知硬度的影响。在这两个实验中，使用了两项任务：一项是从物体表面开始的接触任务，另一项是包括自由空中移动的接触转换任务。在实验3中，测试了全局（在整个工作空间中均匀地）注入阻尼和局部（仅在物体内部）注入阻尼之间的差异。在所有实验中，还研究了参与者的感知决策与力和位置数据之间的相关性。实验1和实验2表明，在全局注入阻尼时，对于接触任务，感知硬度略有增加，而对于接触转换任务，感知硬度则大幅下降。实验3表明，这种效应主要是由于全局注入阻尼，因为全局注入阻尼和局部注入阻尼之间存在很大的感知差异。力和位置参数表明，参与者在一次试验的两次运动中使用了相同的力分布，并评估了系统对该力的反应以感知硬度。
