Print Email Facebook Twitter Submillimeter lateral displacement enables friction sensing and awareness of surface slipperiness Title Submillimeter lateral displacement enables friction sensing and awareness of surface slipperiness Author Afzal, Hafiz Malik Naqash (University of New South Wales) Stubbs, Emma (University of New South Wales) Khamis, Heba (University of New South Wales) Loutit, Alastair J. (Neuroscience Research Australia) Redmond, Stephen (University College Dublin) Vickery, Richard Martin (University of New South Wales) Wiertlewski, M. (TU Delft Human-Robot Interaction) Birznieks, Ingvars (University of New South Wales) Date 2022 Abstract Human tactile perception and motor control rely on the frictional estimates that stem from the deformation of the skin and slip events. However, it is not clear how exactly these mechanical events relate to the perception of friction. This study aims to quantify how minor lateral displacement and speed enables subjects to feel frictional differences. In a 2-alternative forced-choice protocol, an ultrasonic friction-reduction device was brought in contact perpendicular to the skin surface of an immobilized index finger; after reaching 1N normal force, the plate was moved laterally. A combination of four displacement magnitudes (0.2, 0.5, 1.2 and 2 mm), two levels of friction (high, low) and three displacement speeds (1, 5 and 10 mm/s) were tested. We found that the perception of frictional difference was enabled by submillimeter range lateral displacement. Friction discrimination thresholds were reached with lateral displacements ranging from 0.2 to 0.5 mm and surprisingly speed had only a marginal effect. These results demonstrate that partial slips are sufficient to cause awareness of surface slipperiness. These quantitative data are crucial for designing haptic devices that render slipperiness. The results also show the importance of subtle lateral finger movements present during dexterous manipulation tasks. Subject AcousticsdexterityFingersForceFrictionhandhapticsincipient slipsModulationobject manipulationperceptionProtocolsSkintactile afferents To reference this document use: http://resolver.tudelft.nl/uuid:701f84b3-ee81-47b9-a782-aac5b823ddef DOI https://doi.org/10.1109/TOH.2021.3139890 Embargo date 2023-07-01 ISSN 1939-1412 Source IEEE Transactions on Haptics, 15 (1), 20-25 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2022 Hafiz Malik Naqash Afzal, Emma Stubbs, Heba Khamis, Alastair J. Loutit, Stephen Redmond, Richard Martin Vickery, M. Wiertlewski, Ingvars Birznieks Files PDF Submillimeter_Lateral_Dis ... riness.pdf 1.28 MB Close viewer /islandora/object/uuid:701f84b3-ee81-47b9-a782-aac5b823ddef/datastream/OBJ/view