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    The influence of different haptic environments on time delay discrimination in force feedback

    Rank, M. and Shi, Z. and Muller, Hermann J. and Hirche, S. (2010) The influence of different haptic environments on time delay discrimination in force feedback. In: Kappers, A.M.L. and van Erp, J.B.F. and Bergmann Tiest, W.M. and van der Helm, F.C.T. (eds.) Haptics: Generating and Perceiving Tangible Sensations, Part I. Lecture Notes in Computer Science 6191. Berlin, Germany: Springer, pp. 205-212. ISBN 9783642140648.

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    Time delay in haptic telepresence arising from compression or communication alters the phase characteristics of the environment impedance. This paper describes how well a human operator can discriminate these changes in haptic environments. Three different environments are rendered on a haptic interface and manually excited by a human operator using sinusoidal movements. We find that time delay in haptic feedback can be discriminated starting from 15 ms in a pure damper environment, 36 ms in a spring system, and 72 ms when moving a damped inertia. We conclude that the discrimination thresholds increase with the absolute phase between velocity and force signals resulting from the remote environment characteristics. These results may benefit the human-centered design of high-fidelity haptic communication protocols and haptic filters.


    Item Type: Book Section
    Keyword(s) / Subject(s): time delay, telepresence, psychophysics
    School: Birkbeck Faculties and Schools > Faculty of Science > School of Psychological Sciences
    Depositing User: Sarah Hall
    Date Deposited: 05 Nov 2015 11:03
    Last Modified: 02 Aug 2023 17:19


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