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...

Haptic guidance on demand: A grip-force based scheduling of guidance forces

In haptic shared control systems (HSC), a fixed strength of guidance force equates to a fixed level of control authority, which can be insufficient for complex tasks. An adaptable control authority based on operator input can allow the HSC system to better assist the operator under varied conditions. In this paper, we experimentally...