Cues for Haptic Perception of Compliance

For the perception of the hardness of compliant materials, several cues are available. In this paper, the relative roles of force/displacement and surface deformation cues are investigated. We have measured discrimination thresholds with silicone rubber stimuli of differing thickness and compliance....

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Bibliographic Details
Published in:IEEE transactions on haptics 2009-10, Vol.2 (4), p.189-199
Main Authors: Bergmann Tiest, W.M., Kappers, A.
Format: Article
Language:English
Subjects:
Automotive materials
Bicycles
Capacitive sensors
Compliance
Cues
Deformation
Elasticity
Fingers
Haptic interfaces
haptic perception
Haptics
hardness
Optimization
Perception
Psychology
psychophysics
Rubber
Silicone rubber
softness
Stress
Thickness measurement
Thresholds
touch
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Summary:For the perception of the hardness of compliant materials, several cues are available. In this paper, the relative roles of force/displacement and surface deformation cues are investigated. We have measured discrimination thresholds with silicone rubber stimuli of differing thickness and compliance. Also, the influence of the finger span is assessed. When compliance is expressed as the Young's modulus, the thresholds in the different conditions follow Weber's law with a Weber fraction of 15 percent. When the surface deformation cue was removed, thresholds more than trebled. Under the assumption of optimal cue combination, this suggests that a large fraction of the information comes from the surface deformation cue. Using a matching experiment, we found that differences in object thickness are correctly taken into account. When cues appear to contradict each other, the conflict is resolved by means of a compromise.
ISSN:1939-1412
2329-4051
DOI:10.1109/TOH.2009.16