Beek Making Sense of Haptics

Fundamentals of Perception and Implications for Device Design
1. Auflage 2017
ISBN: 978-3-319-69920-2
Verlag: Springer Nature Switzerland
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 157 Seiten

Reihe: Springer Series on Touch and Haptic Systems

Tele operation systems, in which robots are controlled remotely, are a potential solution to performing tasks in remote, small, and hazardous environments. However, there is a big disadvantage to these systems; as the direct connection between the human and the environment is lost and operators are deprived of their sense of touch. The recreation of touch feedback through haptic devices is a possible solution, however haptic devices are far from perfect and improving their design is usually a slow trial-and-error process. This book describes 7 scientific studies that try to break this slow loop by using a deductive approach. Through investigating fundamental properties of human haptic perception using psychophysical paradigms, general knowledge on haptic perception of force, position, movement and hardness was gained. The resulting information can be applied to many different haptic devices. Consequently haptic systems can be more easily designed in an intuitive, human-centered way.

Autoren/Hrsg.

Beek, Femke Elise van

Inhaltsverzeichnis

1;Acknowledgements;7
2;Contents;8
3;1 Introduction;12
3.1;1.1 Teleoperation;13
3.2;1.2 Haptic Perception;14
3.3;1.3 Psychophysics;14
3.4;1.4 Outline;17
3.5;References;19
4;Part I Static Perception;21
4.1;2 Perception of Force Direction and Magnitude;22
4.1.1;2.1 Introduction;23
4.1.2;2.2 Materials and Methods;25
4.1.2.1;2.2.1 Subjects;25
4.1.2.2;2.2.2 Setup;25
4.1.2.3;2.2.3 Experimental Procedure;27
4.1.2.4;2.2.4 Data Analysis;28
4.1.2.5;2.2.5 Statistics;29
4.1.3;2.3 Results;30
4.1.3.1;2.3.1 Force Magnitude;30
4.1.3.2;2.3.2 Force Direction;30
4.1.4;2.4 Discussion;32
4.1.4.1;2.4.1 Force Magnitude;33
4.1.4.2;2.4.2 Force Direction;37
4.1.5;2.5 Conclusion;37
4.1.6;References;38
4.2;3 Perception of Force Direction;40
4.2.1;3.1 Introduction;40
4.2.2;3.2 Material and Methods;42
4.2.2.1;3.2.1 Subjects;42
4.2.2.2;3.2.2 Set-Up;42
4.2.2.3;3.2.3 Protocol;43
4.2.2.4;3.2.4 Statistics;43
4.2.3;3.3 Results;44
4.2.4;3.4 Discussion and Conclusion;45
4.2.5;References;46
4.3;4 Perception of Force Magnitude and Postural Arm Dynamics;48
4.3.1;4.1 Introduction;48
4.3.2;4.2 Methods;51
4.3.2.1;4.2.1 Participants;51
4.3.2.2;4.2.2 Setup;51
4.3.2.3;4.2.3 Procedure;53
4.3.2.3.1;4.2.3.1 Experiment 1: Perception;53
4.3.2.3.2;4.2.3.2 Experiment 2: Arm Dynamics;53
4.3.2.4;4.2.4 Position Disturbance Signal Design;54
4.3.2.5;4.2.5 Data Analysis;55
4.3.2.5.1;4.2.5.1 Perceptual Data;55
4.3.2.5.2;4.2.5.2 Arm Dynamics Data;56
4.3.2.5.3;4.2.5.3 Impedance Model Fit;57
4.3.2.5.4;4.2.5.4 Statistics;58
4.3.3;4.3 Results;59
4.3.3.1;4.3.1 Experiment 1: Perception;59
4.3.3.2;4.3.2 Experiment 2: Arm Dynamics;60
4.3.4;4.4 Discussion;61
4.3.5;References;66
5;Part II Dynamic Perception;69
5.1;5 Discrimination of Distance;70
5.1.1;5.1 Introduction;70
5.1.1.1;5.1.1 Reference Distance;71
5.1.1.2;5.1.2 Movement Axis;72
5.1.1.3;5.1.3 Movement Mode;72
5.1.1.4;5.1.4 Stimulus Type;73
5.1.2;5.2 Materials and Methods;73
5.1.2.1;5.2.1 Participants;73
5.1.2.2;5.2.2 Conditions;74
5.1.2.3;5.2.3 Setup;74
5.1.2.4;5.2.4 Procedure;76
5.1.2.5;5.2.5 Data Analysis;77
5.1.3;5.3 Results;79
5.1.4;5.4 Discussion;82
5.1.4.1;5.4.1 Reference Distance;82
5.1.4.2;5.4.2 Movement Axis;83
5.1.4.3;5.4.3 Movement Mode;83
5.1.4.4;5.4.4 Stimulus Type;84
5.1.4.5;5.4.5 Movement Strategy;84
5.1.4.6;5.4.6 Conclusion;85
5.1.5;References;86
5.2;6 The Effect of Damping on the Perception of Hardness;88
5.2.1;6.1 Introduction;89
5.2.2;6.2 Material and Methods;91
5.2.2.1;6.2.1 Participants;91
5.2.2.2;6.2.2 Protocol;91
5.2.2.2.1;6.2.2.1 General;91
5.2.2.2.2;6.2.2.2 Experiment 1;94
5.2.2.2.3;6.2.2.3 Experiment 2;95
5.2.2.2.4;6.2.2.4 Experiment 3;95
5.2.2.3;6.2.3 Data Analysis;95
5.2.2.3.1;6.2.3.1 Perceptual Data;95
5.2.2.3.2;6.2.3.2 Position and Force Data;96
5.2.3;6.3 Results;98
5.2.3.1;6.3.1 Experiment 1;98
5.2.3.1.1;6.3.1.1 Perceptual Data;98
5.2.3.1.2;6.3.1.2 Position and Force Data;100
5.2.3.2;6.3.2 Experiment 2;101
5.2.3.2.1;6.3.2.1 Perceptual Data;101
5.2.3.2.2;6.3.2.2 Position and Force Data;101
5.2.3.3;6.3.3 Equal Hardness Lines;101
5.2.3.4;6.3.4 Experiment 3;103
5.2.3.4.1;6.3.4.1 Perceptual Data;103
5.2.3.4.2;6.3.4.2 Position and Force Data;104
5.2.4;6.4 Discussion;105
5.2.5;6.5 Conclusion;107
5.2.6;References;107
6;Part III Applications;109
6.1;7 Integrating Force and Position;110
6.1.1;7.1 Introduction;111
6.1.2;7.2 Models;112
6.1.2.1;7.2.1 Bisection Model;113
6.1.2.2;7.2.2 Stiffness Model;116
6.1.3;7.3 Material and Methods;118
6.1.3.1;7.3.1 Participants;118
6.1.3.2;7.3.2 Setup;119
6.1.3.3;7.3.3 Protocol;120
6.1.3.4;7.3.4 Device Performance;122
6.1.3.5;7.3.5 Data Analysis;123
6.1.4;7.4 Results;125
6.1.4.1;7.4.1 Measured and Expected Biases;125
6.1.4.2;7.4.2 Experiment 1;125
6.1.4.3;7.4.3 Experiment 2;127
6.1.4.4;7.4.4 Model Fits;128
6.1.5;7.5 Discussion;128
6.1.6;7.6 Conclusion;131
6.1.7;References;131
6.2;8 Visuo-Haptic Biases in Haptic Guidance;133
6.2.1;8.1 Introduction;133
6.2.2;8.2 Materials and Methods;136
6.2.2.1;8.2.1 Participants;136
6.2.2.2;8.2.2 Apparatus;136
6.2.2.3;8.2.3 Protocol;138
6.2.2.4;8.2.4 Data Analysis;141
6.2.3;8.3 Results;142
6.2.4;8.4 Discussion;144
6.2.5;8.5 Conclusions;146
6.2.6;References;146
6.3;9 General Discussion;148
6.3.1;9.1 Fundamental Insights;148
6.3.1.1;9.1.1 Part I: Static Perception;149
6.3.1.2;9.1.2 Part II: Dynamic Perception;149
6.3.1.3;9.1.3 Part III: Applications;150
6.3.2;9.2 Reproducibility;151
6.3.3;9.3 Implications for Design;153
6.3.3.1;9.3.1 Haptic Parameters for Haptic Device Design;153
6.3.3.2;9.3.2 Haptic Parameters for Haptic Guidance Design;154
6.3.4;References;156