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[132] Citation: Abstract
In this paper, we present the results of experiments that explore the
ability of the human fingertip to detect haptically simulated first-order
and second-order surface discontinuities. A single finger, planar motion
fingertip haptic display (FHD) developed at the University of Washington
was used by multiple test operators to kinesthetically trace haptically
simulated surfaces under a variety of treatment conditions. Experiment
variables included the magnitude and type of discontinuity, as well as
the stiffness and damping terms used in the haptic simulation algorithm.
Test operators were asked to haptically locate a discontinuity on a
simulated surface for each treatment condition with the location
accuracy being used as the experiment performance metric. The results
reveal how the surface discontinunity detection ability is degraded by
control gains that are either too low or too high, indicating that a
given haptic simulation system may have an optimum set of control gains
that will yield the best performance for this type of task.
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Updated: Tue Aug 19 09:16:09 2008
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