Park Jaeyoung, Oh Yonghwan, Tan Hong Z
IEEE Trans Haptics. 2018 Oct-Dec;11(4):518-530. doi: 10.1109/TOH.2018.2854721. Epub 2018 Jul 10.
We investigate the effect of adding cutaneous cues to kinesthetic feedback on the perception of a virtual object's hardness. A cutaneous haptic interface is designed to deliver hardness information to a user's fingertip along with a force-feedback interface, and the corresponding rendering strategy is implemented. Two sets of experiments are conducted to evaluate the proposed approach for hardness perception using one-finger touch and two-finger grasp. Experimental results indicate that the addition of cutaneous feedback can make the virtual surface feel significantly harder than the nominal stiffness delivered by force-feedback alone. In addition, the perceived hardness is significantly affected by the rate of hardness rendered with a cutaneous interface for the nominal stiffness K = 0.3 and 0.5 N/mm. For two-finger grip, the effect of a virtual object's thickness has a significant effect on the perceived hardness measured in stiffness. When the perceived hardness is converted to Young's modulus, the effect of thickness is insignificant.
我们研究了在运动觉反馈中添加皮肤感觉线索对虚拟物体硬度感知的影响。设计了一种皮肤触觉接口，以便与力反馈接口一起向用户指尖传递硬度信息，并实施了相应的渲染策略。进行了两组实验，以评估所提出的使用单指触摸和双指抓握进行硬度感知的方法。实验结果表明，添加皮肤反馈会使虚拟表面感觉比仅由力反馈传递的标称刚度明显更硬。此外，对于标称刚度K = 0.3和0.5 N/mm，皮肤接口渲染硬度的速率对感知硬度有显著影响。对于双指抓握，虚拟物体的厚度对以刚度测量的感知硬度有显著影响。当将感知硬度转换为杨氏模量时，厚度的影响不显著。
