Abstract
We have recently developed a compact, lightweight platform that can be worn on the finger of the user, so that haptic feedback can be generated directly on the fingertip pad rather than through a grasped instrument handle. A planar array of cylindrical coils and a 3D rigid-body motion tracker generate forces and torques on the magnet in the levitated platform worn by the user. This study compares perception of sinusoidal surface roughness across three different renderings: (1) with no torque feedback, (2) with torque feedback to follow the local surface slope, and (3) with torque feedback to prevent the fingertip from roll and pitch rotations. The results show that perceived roughness decreases with wavelength in all three conditions, but in addition, and independently, there are strong effects of torque feedback.
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Acknowledgment
This work was supported in part by National Science Foundation grants IIS-0846172 and CNS-0551515.
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Aghajani Pedram, S., Klatzky, R., Isaac-Lowry, O., Berkelman, P. (2014). Virtual Roughness Perception Using Coil Array Magnetic Levitation Haptic Interface: Effects of Torque Feedback. In: Auvray, M., Duriez, C. (eds) Haptics: Neuroscience, Devices, Modeling, and Applications. EuroHaptics 2014. Lecture Notes in Computer Science(), vol 8618. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44193-0_64
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DOI: https://doi.org/10.1007/978-3-662-44193-0_64
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