Making Sense of Haptics (eBook)

Acknowledgements 7
Contents 8
1 Introduction 12
1.1 Teleoperation 13
1.2 Haptic Perception 14
1.3 Psychophysics 14
1.4 Outline 17
References 19
Part I Static Perception 21
2 Perception of Force Direction and Magnitude 22
2.1 Introduction 23
2.2 Materials and Methods 25
2.2.1 Subjects 25
2.2.2 Setup 25
2.2.3 Experimental Procedure 27
2.2.4 Data Analysis 28
2.2.5 Statistics 29
2.3 Results 30
2.3.1 Force Magnitude 30
2.3.2 Force Direction 30
2.4 Discussion 32
2.4.1 Force Magnitude 33
2.4.2 Force Direction 37
2.5 Conclusion 37
References 38
3 Perception of Force Direction 40
3.1 Introduction 40
3.2 Material and Methods 42
3.2.1 Subjects 42
3.2.2 Set-Up 42
3.2.3 Protocol 43
3.2.4 Statistics 43
3.3 Results 44
3.4 Discussion and Conclusion 45
References 46
4 Perception of Force Magnitude and Postural Arm Dynamics 48
4.1 Introduction 48
4.2 Methods 51
4.2.1 Participants 51
4.2.2 Setup 51
4.2.3 Procedure 53
4.2.3.1 Experiment 1: Perception 53
4.2.3.2 Experiment 2: Arm Dynamics 53
4.2.4 Position Disturbance Signal Design 54
4.2.5 Data Analysis 55
4.2.5.1 Perceptual Data 55
4.2.5.2 Arm Dynamics Data 56
4.2.5.3 Impedance Model Fit 57
4.2.5.4 Statistics 58
4.3 Results 59
4.3.1 Experiment 1: Perception 59
4.3.2 Experiment 2: Arm Dynamics 60
4.4 Discussion 61
References 66
Part II Dynamic Perception 69
5 Discrimination of Distance 70
5.1 Introduction 70
5.1.1 Reference Distance 71
5.1.2 Movement Axis 72
5.1.3 Movement Mode 72
5.1.4 Stimulus Type 73
5.2 Materials and Methods 73
5.2.1 Participants 73
5.2.2 Conditions 74
5.2.3 Setup 74
5.2.4 Procedure 76
5.2.5 Data Analysis 77
5.3 Results 79
5.4 Discussion 82
5.4.1 Reference Distance 82
5.4.2 Movement Axis 83
5.4.3 Movement Mode 83
5.4.4 Stimulus Type 84
5.4.5 Movement Strategy 84
5.4.6 Conclusion 85
References 86
6 The Effect of Damping on the Perception of Hardness 88
6.1 Introduction 89
6.2 Material and Methods 91
6.2.1 Participants 91
6.2.2 Protocol 91
6.2.2.1 General 91
6.2.2.2 Experiment 1 94
6.2.2.3 Experiment 2 95
6.2.2.4 Experiment 3 95
6.2.3 Data Analysis 95
6.2.3.1 Perceptual Data 95
6.2.3.2 Position and Force Data 96
6.3 Results 98
6.3.1 Experiment 1 98
6.3.1.1 Perceptual Data 98
6.3.1.2 Position and Force Data 100
6.3.2 Experiment 2 101
6.3.2.1 Perceptual Data 101
6.3.2.2 Position and Force Data 101
6.3.3 Equal Hardness Lines 101
6.3.4 Experiment 3 103
6.3.4.1 Perceptual Data 103
6.3.4.2 Position and Force Data 104
6.4 Discussion 105
6.5 Conclusion 107
References 107
Part III Applications 109
7 Integrating Force and Position 110
7.1 Introduction 111
7.2 Models 112
7.2.1 Bisection Model 113
7.2.2 Stiffness Model 116
7.3 Material and Methods 118
7.3.1 Participants 118
7.3.2 Setup 119
7.3.3 Protocol 120
7.3.4 Device Performance 122
7.3.5 Data Analysis 123
7.4 Results 125
7.4.1 Measured and Expected Biases 125
7.4.2 Experiment 1 125
7.4.3 Experiment 2 127
7.4.4 Model Fits 128
7.5 Discussion 128
7.6 Conclusion 131
References 131
8 Visuo-Haptic Biases in Haptic Guidance 133
8.1 Introduction 133
8.2 Materials and Methods 136
8.2.1 Participants 136
8.2.2 Apparatus 136
8.2.3 Protocol 138
8.2.4 Data Analysis 141
8.3 Results 142
8.4 Discussion 144
8.5 Conclusions 146
References 146
9 General Discussion 148
9.1 Fundamental Insights 148
9.1.1 Part I: Static Perception 149
9.1.2 Part II: Dynamic Perception 149
9.1.3 Part III: Applications 150
9.2 Reproducibility 151
9.3 Implications for Design 153
9.3.1 Haptic Parameters for Haptic Device Design 153
9.3.2 Haptic Parameters for Haptic Guidance Design 154
References 156