Human Threshold Model for Perceiving Changes in System Dynamics

Limitations of a haptic device can cause distortions of the force feedback it presents. Just-noticeable difference (JND) in system dynamics is important for creating transparent haptic interaction. Based on the previous work, this article presents a unified model that extends the existing JND rule. Our approach projects the JNDs in the...

Framework for human haptic perception with delayed force feedback

Time delays in haptic teleoperation affect the ability of human operators to assess mechanical properties (damping, mass, and stiffness) of the remote environment. To address this, we propose a unified framework for human haptic perception of the mechanical properties of environments with delayed force feedback. In a first experiment, we...

Modeling the Coupled Difference Threshold of Perceiving Mass and Stiffness from Force

Abstract—Just notable difference (JND) thresholds for the perception of manipulator dynamic properties are relevant for tele-operation and simulation of vehicles. Manipulator dynamic properties are characterized by multiple variables (describing mass, spring and damping for a linear manipulator) and the JND threshold for any of these variables...