Perceptual Decomposition of Virtual Haptic Surfaces
Abstract
The analysis and construction of virtual haptic surfaces are considered from a perceptual point of view rather than from the dynamics and controls approach of prior work.
We developed a perceptual decomposition of surface contact sensation by examining three qualities associated with the different stages of interaction with a haptic wall simulation. These qualities are:
- the crispness of initial contact
- the hardness of surface rigidity
- the cleanness of final release from the virtual wall's surface
These qualities, plus an overall rating of wall quality, were employed consistently by seven subjects to evaluate a set of six simple haptic wall simulations. Three of the wall models consisted of single linear springs; the remainder, single viscous dampers.
Highest rankings of subjective hardness were associated with the spring models; damper models received the highest crispness rankings. Subjects favored the simple spring models as having, overall, the more wall-like perceptual character.
