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[136] Citation: Abstract
Can haptics be effective in low power and hand held applications?
Inevitably a haptic device which meets the strict weight, power and
volume requirements of a hand held device will be capable of only very
small forces and displacements compared to existing desktop devices.
This leads to two aspects to the question. What are the weakest haptic
effects that can be effectively used by humans interacting with a
haptic device? And how can haptic devices be designed to operate at or
just above these low levels while maintaining both the weight,
power and volume constraints and effective outputs?
This paper will describe experiments involving exploration of 1-D
surface profiles using a single finger in the flexion extension plane
and the (Finger-tip Haptic Display) FHD, a 2 DOF, low friction, direct
drive, planar haptic display capable of high fidelity representation
of virtual surfaces. Using a forced-choice experiment incorporating
an adaptive threshold algorithm, we measured the weakest haptic
effects that are detectable via the haptic interface. In the first
experiment, the subject is presented with two targets 5 mm wide,
spaced 10 mm apart, and located on a horizontal line. The haptic force
on one randomly chosen target consists of a tangential force beginning
at each edge of the target, and pointing inward, toward the target
center. We use the converged adaptive force threshold value as
characteristic of the smallest detectable haptic effects that can be
communicated by our specific haptic device (FHD) to a specific
subject. Data for 7 subjects indicates an average human/machine
threshold of 30 mN.
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Updated: Tue Jul 15 23:54:51 2008
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