Human Detection and Discrimination of Tactile Repeatability, Mechanical Backlash, and Temporal Delay in a Combined Tactile-Kinesthetic Haptic Display System
Human Detection and Discrimination of Tactile Repeatability, Mechanical Backlash, and Temporal Delay in a Combined Tactile-Kinesthetic Haptic Display System
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DOI：
10.1109/toh.2013.50
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发表时间：
2013-10-01
影响因子：
2.9
通讯作者：
Provancher, William R.
中科院分区：
文献类型：
--
作者：
Doxon, Andrew J.;Johnson, David E.;Provancher, William R.
触觉研究中使用的许多设备都是针对这项任务而过度设计的，其设计功能远远超出了人类的感知水平。设计更接近人类感知极限的设备将使它们更小，更便宜，更有用。然而，许多以设备为中心的感知阈值还有待评估。为此，进行了三个实验，使用一个自由度的接触位置反馈装置与动觉显示器相结合，以提供一个更明确的一组类似的挣扎动觉触觉设备的规格。这些实验中的第一个评估了人类在指垫上重复定位触觉线索的能力。受试者可以本地化的线索，在1.3毫米，并表现出偏向中心的指垫。第二个实验评估触觉元件处的齿隙的最小可感知差异。受试者能够区分低曲率模型上超过0.46 mm和高曲率模型上超过0.93 mm的器械间隙。最后一个实验评估了用户动作和设备反应之间的系统延迟的最小可感知差异。受试者能够区分超过61 ms的延迟。这些研究的结果可以作为最大值（即，最苛刻的）设备规格。
Many of the devices used in haptics research are over-engineered for the task and are designed with capabilities that go far beyond human perception levels. Designing devices that more closely match the limits of human perception will make them smaller, less expensive, and more useful. However, many device-centric perception thresholds have yet to be evaluated. To this end, three experiments were conducted, using one degree-of-freedom contact location feedback device in combination with a kinesthetic display, to provide a more explicit set of specifications for similar tactile-kinesthetic haptic devices. The first of these experiments evaluated the ability of humans to repeatedly localize tactile cues across the fingerpad. Subjects could localize cues to within 1.3 mm and showed bias toward the center of the fingerpad. The second experiment evaluated the minimum perceptible difference of backlash at the tactile element. Subjects were able to discriminate device backlash in excess of 0.46 mm on low-curvature models and 0.93 mm on high-curvature models. The last experiment evaluated the minimum perceptible difference of system delay between user action and device reaction. Subjects were able to discriminate delays in excess of 61 ms. The results from these studies can serve as the maximum (i.e., most demanding) device specifications for most tactile-kinesthetic haptic systems.