Abstract
Hybrid haptic interfaces combining brakes and motors can present dissimilar torque and stiffness capabilities when dissipating or restoring energy. This paper aims at identifying the asymmetry thresholds that lead to an alteration in the perception of elasticity simulated by such devices. 17 subjects took part in an experiment consisting in interacting with virtual springs with either controllable stiffness or torque asymmetry levels, and identifying if the springs were symmetric or not. Experimental results indicate that when the decompression stiffness or torque were less than 80 % and 60 % of the compression stiffness or torque respectively, users did not perceive the asymmetry in 80 % of trials. This suggests that hybrid devices can present dissimilar active/passive torque or stiffness capabilities without affecting the perception of elasticity.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Rosenberg, L., Adelstein, B.: Perceptual decomposition of virtual haptic surfaces. In: Proceedings of the IEEE 1993 Symposium on Research Frontiers in Virtual Reality, 1993, pp. 46–53 (1993)
Pang, X., Tan, H., Durlach, N.: Manual discrimination of force using active finger motion. Percept. Psychophysics 49(6), 531–540 (1991)
Woodruff, B., Helson, H.: Torque sensitivity as a function of knob radius and load. Am. J. Psychol. 80(4), 558–571 (1967)
Cholewiak, S., Tan, H., Ebert, D.: Haptic identification of stiffness and force magnitude. In: Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Haptics 2008, pp. 87–91 (2008)
Forrest, N., Baillie, S., Tan, H.: Haptic stiffness identification by veterinarians and novices: a comparison. In: Third Joint EuroHaptics Conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009, pp. 646–651 (2009)
Rossa, C., Lozada, J., Micaelli, A.: A new hybrid actuator approach for force-feedback devices. In: Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, pp. 4054–4059 (2012)
Rossa, C., Lozada, J., Micaelli, A.: Stable haptic interaction using passive and active actuators. In: 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 1050–4729 (2013)
Rossa, C., Jaegy, A., Micaelli, A., Lozada, J.: Development of a multilayered wide-ranged torque magnetorheological brake. Smart Mater. Struct. 23(2), 025028 (2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Rossa, C., Anastassova, M., Micaelli, A., Lozada, J. (2014). Perceptual Evaluation of the Passive/Active Torque and Stiffness Asymmetry of a Hybrid Haptic Device. 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_8
Download citation
DOI: https://doi.org/10.1007/978-3-662-44193-0_8
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-44192-3
Online ISBN: 978-3-662-44193-0
eBook Packages: Computer ScienceComputer Science (R0)