RI-Small: The Haptic E-Model: A Computational Model of Human Sensory-Motor Performance in Haptic Manipulation

触觉交互是指基于触觉与真实或虚拟环境进行交互的形式。当用户通过触觉系统与环境进行体验和交互时，触觉系统直接或间接地改变用户的感知和运动控制。因此，了解触觉系统对感知和运动控制的影响是非常重要的。本研究的目的是开发一种人类触觉感觉-运动系统的计算模型，以定量地捕捉用户在触觉操作任务中的表现。开发的计算模型，我们称之为触觉e模型，将成为评估触觉系统的客观工具，重点是人类操作员的感觉-运动性能。具体地说，开发的触觉e模型将由一套具有代表性的触觉操作任务、任务性能测量以及人类感知和运动控制模型的基准套件组成。触觉e模型将被研究界用作基准评估模型，以评估触觉系统、组件和算法的有效性和性能。它还将是一个计算工具，可以很容易地集成到触觉系统的设计周期中，并在整个系统开发过程中促进对设计选择的量化分析。

Haptic interaction refers to the form of interaction with a real or virtual environment based on the sense of touch. As the user experiences and interacts with an environment through a haptic system, the haptic system directly or indirectly alters the user's perception and motor control. Therefore, understanding the effects of the haptic system on the perception and motor control is important.The purpose of this study is the development of a computational model of the human haptic sensory-motor system for quantitatively capturing the user performance in haptic manipulation tasks. The developed computational model, which we call the haptic e-model, will be an objective tool for evaluation of haptic systems with emphasis on human operator's sensory-motor performance. Specifically, the developed haptic e-model will be composed of a benchmark suite of representative haptic manipulation tasks, task performance measures, and models for human perception and motor control.The haptic e-model will be used as a benchmark evaluation model by the research community to evaluate effectiveness and performance of haptic systems, components, and algorithms. It will also be a computational tool that can be easily integrated into the design cycle of haptic systems, and facilitate quantitative analysis of design choices throughout system development.