Making Sense of Haptics: Fundamentals of Perception and Implications for Device Design

157 Pages·2017·3.408 MB·English

by  Femke Elise van Beek (auth.)

Springer Series on Touch and Haptic Systems
Femke Elise van Beek
Making
Sense of
Haptics
Fundamentals of Perception and
Implications for Device Design
Springer Series on Touch and Haptic Systems
SeriesEditors
ManuelFerre
MarcO.Ernst
AlanWing
SeriesEditorialBoard
CarloA.Avizzano
JoséM.Azorín
SoledadBallesteros
MassimoBergamasco
AntonioBicchi
MartinBuss
JanvanErp
MatthiasHarders
WilliamS.Harwin
VincentHayward
JuanM.Ibarra
AstridM.L.Kappers
AbderrahmaneKheddar
MiguelA.Otaduy
AngelikaPeer
JeromePerret
Jean-LouisThonnard
Moreinformationaboutthisseriesathttp://www.springer.com/series/8786
Femke Elise van Beek
Making Sense of Haptics
Fundamentals of Perception and Implications
for Device Design
123
FemkeElisevanBeek
VrijeUniversiteit Amsterdam
Amsterdam,TheNetherlands
ISSN2192-2977 ISSN2192-2985 (electronic)
SpringerSeriesonTouchandHapticSystems
ISBN978-3-319-69919-6 ISBN978-3-319-69920-2 (eBook)
https://doi.org/10.1007/978-3-319-69920-2
LibraryofCongressControlNumber:2017958834
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Thisbookisdedicatedtomyfather,Jörgvan
Beek.Hemadethebeautiful coverformy
thesis,uponwhichthisbookisbased.
Dikkekuspapa.
Acknowledgements
There are so many people that I should be thanking here for helping me along
my path to obtaining a PhD degree. Luckily, I thanked most of them already in
my thesis acknowledgements. However, you cannot thank amazing promoters and
supervisors often enough, so Astrid Kappers and Wouter Bergmann Tiest, thank
youagain!Withoutyou,thisbookcertainlywouldnothaveexisted.
Theresearchinmythesis,uponwhichthisbookisbased,wasperformedatthe
PhysicsofManGroupofUtrechtUniversity,HelmholtzInstitute,andattheFaculty
of Behavioural and Movement Sciences of the Vrije Universiteit Amsterdam,
MOVE Research Institute Amsterdam, the Netherlands. This research was part of
theH-HapticsprogrammeandwassupportedbytheDutchTechnologyFoundation
STW,whichispartoftheNetherlandsOrganisationforScientificResearch(NWO)
andpartlyfundedbytheMinistryofEconomicAffairs(projectnumber12157).
vii
Contents
1 Introduction .................................................................. 1
1.1 Teleoperation............................................................ 2
1.2 HapticPerception ....................................................... 3
1.3 Psychophysics........................................................... 3
1.4 Outline................................................................... 6
References..................................................................... 8
PartI StaticPerception
2 PerceptionofForceDirectionandMagnitude............................ 13
2.1 Introduction ............................................................. 14
2.2 MaterialsandMethods.................................................. 16
2.2.1 Subjects ......................................................... 16
2.2.2 Setup ............................................................ 16
2.2.3 ExperimentalProcedure........................................ 18
2.2.4 DataAnalysis ................................................... 19
2.2.5 Statistics......................................................... 20
2.3 Results................................................................... 21
2.3.1 ForceMagnitude................................................ 21
2.3.2 ForceDirection ................................................. 21
2.4 Discussion............................................................... 23
2.4.1 ForceMagnitude................................................ 24
2.4.2 ForceDirection ................................................. 28
2.5 Conclusion .............................................................. 28
References..................................................................... 29
3 PerceptionofForceDirection............................................... 31
3.1 Introduction ............................................................. 31
3.2 MaterialandMethods................................................... 33
3.2.1 Subjects ......................................................... 33
3.2.2 Set-Up........................................................... 33
ix
x Contents
3.2.3 Protocol ......................................................... 34
3.2.4 Statistics......................................................... 34
3.3 Results................................................................... 35
3.4 DiscussionandConclusion............................................. 36
References..................................................................... 37
4 PerceptionofForceMagnitudeandPosturalArmDynamics .......... 39
4.1 Introduction ............................................................. 39
4.2 Methods ................................................................. 42
4.2.1 Participants...................................................... 42
4.2.2 Setup ............................................................ 42
4.2.3 Procedure........................................................ 44
4.2.4 PositionDisturbanceSignalDesign ........................... 45
4.2.5 DataAnalysis ................................................... 46
4.3 Results................................................................... 50
4.3.1 Experiment1:Perception....................................... 50
4.3.2 Experiment2:ArmDynamics ................................. 51
4.4 Discussion............................................................... 52
References..................................................................... 57
PartII DynamicPerception
5 DiscriminationofDistance.................................................. 63
5.1 Introduction ............................................................. 63
5.1.1 ReferenceDistance ............................................. 64
5.1.2 MovementAxis................................................. 65
5.1.3 MovementMode................................................ 65
5.1.4 StimulusType................................................... 66
5.2 MaterialsandMethods.................................................. 66
5.2.1 Participants...................................................... 66
5.2.2 Conditions....................................................... 67
5.2.3 Setup ............................................................ 67
5.2.4 Procedure........................................................ 69
5.2.5 DataAnalysis ................................................... 70
5.3 Results................................................................... 72
5.4 Discussion............................................................... 75
5.4.1 ReferenceDistance ............................................. 75
5.4.2 MovementAxis................................................. 76
5.4.3 MovementMode................................................ 76
5.4.4 StimulusType................................................... 77
5.4.5 MovementStrategy............................................. 77
5.4.6 Conclusion ...................................................... 78
References..................................................................... 79
Contents xi
6 TheEffectofDampingonthePerceptionofHardness.................. 81
6.1 Introduction ............................................................. 82
6.2 MaterialandMethods................................................... 84
6.2.1 Participants...................................................... 84
6.2.2 Protocol ......................................................... 84
6.2.3 DataAnalysis ................................................... 88
6.3 Results................................................................... 91
6.3.1 Experiment1.................................................... 91
6.3.2 Experiment2.................................................... 94
6.3.3 EqualHardnessLines........................................... 94
6.3.4 Experiment3.................................................... 96
6.4 Discussion............................................................... 98
6.5 Conclusion .............................................................. 100
References..................................................................... 100
PartIII Applications
7 IntegratingForceandPosition ............................................. 105
7.1 Introduction ............................................................. 106
7.2 Models................................................................... 107
7.2.1 BisectionModel ................................................ 108
7.2.2 StiffnessModel ................................................. 111
7.3 MaterialandMethods................................................... 113
7.3.1 Participants...................................................... 113
7.3.2 Setup ............................................................ 114
7.3.3 Protocol ......................................................... 115
7.3.4 DevicePerformance ............................................ 117
7.3.5 DataAnalysis ................................................... 118
7.4 Results................................................................... 120
7.4.1 MeasuredandExpectedBiases ................................ 120
7.4.2 Experiment1.................................................... 120
7.4.3 Experiment2.................................................... 122
7.4.4 ModelFits....................................................... 123
7.5 Discussion............................................................... 123
7.6 Conclusion .............................................................. 126
References..................................................................... 126
8 Visuo-HapticBiasesinHapticGuidance.................................. 129
8.1 Introduction ............................................................. 129
8.2 MaterialsandMethods.................................................. 132
8.2.1 Participants...................................................... 132
8.2.2 Apparatus ....................................................... 132
8.2.3 Protocol ......................................................... 134
8.2.4 DataAnalysis ................................................... 137