IEEE Trans Haptics. 2019 Oct-Dec;12(4):645-651. doi: 10.1109/TOH.2019.2929521. Epub 2019 Jul 19.
Humans require precise force control to execute fine manual tasks, which is generally facilitated to a great extent by providing adequate feedback. Currently, such dexterous manual tasks can be an input source of computing. To design appropriate vibrotactile stimuli for manual tasks, it is essential to quantify human vibrotactile sensitivity over a large range of contact forces. In this paper, we report the psychophysical detection thresholds for vibrotactile stimuli measured for five pressing forces that cover the range of forces encountered during ordinary manual tasks. The experimental results showed stark contrasts between stimulus frequencies, depending on actively exerted pressing force. The detection thresholds for 40 Hz stimuli first increased and then decreased as the pressing force increased, but the detection threshold for 250 Hz stimuli generally decreased as the force increased. These results have immediate consequences on the design of vibrotactile feedback for manual tasks in many applications of tangible interaction, tele-operation, and VR.
人类需要精确的力控制来执行精细的手动任务，而提供足够的反馈在很大程度上有助于实现这一点。目前，这种灵巧的手动任务可以成为计算的输入源。为了设计适用于手动任务的适当振动触觉刺激，量化人类在大范围接触力下的振动触觉灵敏度至关重要。在本文中，我们报告了在涵盖普通手动任务中遇到的力范围的五个按压力下测量的振动触觉刺激的心理物理检测阈值。实验结果表明，根据主动施加的按压力，刺激频率之间存在明显的对比。40Hz 刺激的检测阈值随着压力的增加先增加后减小，而 250Hz 刺激的检测阈值通常随着力的增加而减小。这些结果对许多有形交互、遥操作和 VR 应用中手动任务的振动触觉反馈设计具有直接影响。
