Culbertson Heather, Kuchenbecker Katherine J
IEEE Trans Haptics. 2017 Jan-Mar;10(1):63-74. doi: 10.1109/TOH.2016.2598751.
Interacting with physical objects through a tool elicits tactile and kinesthetic sensations that comprise your haptic impression of the object. These cues, however, are largely missing from interactions with virtual objects, yielding an unrealistic user experience. This article evaluates the realism of virtual surfaces rendered using haptic models constructed from data recorded during interactions with real surfaces. The models include three components: surface friction, tapping transients, and texture vibrations. We render the virtual surfaces on a SensAble Phantom Omni haptic interface augmented with a Tactile Labs Haptuator for vibration output. We conducted a human-subject study to assess the realism of these virtual surfaces and the importance of the three model components. Following a perceptual discrepancy paradigm, subjects compared each of 15 real surfaces to a full rendering of the same surface plus versions missing each model component. The realism improvement achieved by including friction, tapping, or texture in the rendering was found to directly relate to the intensity of the surface's property in that domain (slipperiness, hardness, or roughness). A subsequent analysis of forces and vibrations measured during interactions with virtual surfaces indicated that the Omni's inherent mechanical properties corrupted the user's haptic experience, decreasing realism of the virtual surface.
通过工具与物理对象进行交互会引发触觉和动觉感受，这些感受构成了你对该对象的触觉印象。然而，在与虚拟对象的交互中，这些线索大多缺失，从而产生不真实的用户体验。本文评估了使用从与真实表面交互过程中记录的数据构建的触觉模型渲染的虚拟表面的真实感。这些模型包括三个组成部分：表面摩擦力、敲击瞬变和纹理振动。我们在配备了用于振动输出的触觉实验室触觉器的SensAble Phantom Omni触觉界面上渲染虚拟表面。我们进行了一项人体受试者研究，以评估这些虚拟表面的真实感以及这三个模型组件的重要性。遵循感知差异范式，受试者将15个真实表面中的每一个与同一表面的完整渲染以及缺少每个模型组件的版本进行比较。发现在渲染中包含摩擦力、敲击或纹理所实现的真实感提升与该领域中表面属性的强度（光滑度、硬度或粗糙度）直接相关。随后对与虚拟表面交互过程中测量的力和振动进行的分析表明，Omni的固有机械属性破坏了用户的触觉体验，降低了虚拟表面的真实感。
