Mobile Navigation Using Haptic, Audio, and Visual Direction Cues with a Handheld Test Platform.

This paper reports on a series of user experiments evaluating the design of a multimodal test platform capable of rendering visual, audio, vibrotactile, and directional skin-stretch stimuli. The test platform is a handheld, wirelessly controlled device that will facilitate experiments with mobile users in realistic environments. Stimuli rendered by the device are fully characterized, and have little variance in stimulus onset timing. A series of user experiments utilizing navigational cues validates the function of the device and investigates the user response to all stimulus modes. Results show users are capable of interpreting all stimuli with high accuracy and can use the direction cues for mobile navigation. Tests included both stationary (seated) and mobile (walking a simple obstacle course) tasks. Accuracy and response time patterns are similar in both seated and mobile conditions. This device provides a means of designing and evaluating multimodal communication methods for handheld devices and will facilitate experiments investigating the effects of stimulus mode on device usability and situation awareness.

Haptic Edge Sharpness Perception with a Contact Location Display.

The effect of contact location information on virtual edge perception was investigated in two experiments. In Experiment 1, participants discriminated edge sharpness under force-alone and force-plus-contact-location conditions using a 4.8 mm radius contact roller. Virtual objects were 2D profiles of edges with two adjoining surfaces. For both conditions, the Just Noticeable Difference (JND) in change of edge radius increased from 2.3 to 7.4 mm as edge radii increased from 2.5 to 20.0 mm; there was no significant difference between the two conditions. A follow-up experiment with contact location alone resulted in higher edge sharpness JNDs. In Experiment 2, the same edge sharpness discrimination task was performed using a smaller contact roller (R = 1.5 mm) to investigate the effect of roller size. The JNDs for the smaller roller were not statistically significant from those of the larger roller. Our results suggest that 1) contact location cues alone are capable of conveying edge sharpness information, but that force cues are dominant when both types of cues are available; and 2) the radius of the contact roller does not significantly affect the user's ability to discriminate edge sharpness, indicating that the participants could use the changes in contact location to judge curvature.

Exploration of Tactile Contact in a Haptic Display: Effects of Contact Velocity and Transient Vibrations.

Experiments were conducted using a novel tactile contact rendering device to explore important factors of the tactile contact event. The effects of contact velocity and event-based transient vibrations were explored. Our research was motivated by a need to better understand the perception of the tactile contact event and to develop a means of rendering stiff surfaces with a nonspecialized haptic device. A passive tactile display, suitable for mounting on a Phantom robot, was developed and is capable of rendering the tactile sensation of contact on a fingertip over a range of velocities commonly experienced during everyday manipulation and tactile exploration. Experiments were conducted with this device to explore how tactile contact dynamics affect the perceived stiffness of a virtual surface. It was found that contact velocity does not have a significant effect on perceived stiffness. These results can be explained by prior research that defines perceived hardness (akin to stiffness) in terms of rate-hardness. However, in agreement with prior literature with stylus-based studies, the addition of transient vibrations to the contact event can, in some cases, increase the perceived stiffness.

Improved Tactile Shear Feedback: Tactor Design and an Aperture-Based Restraint.

Tactile feedback could replace or augment visual and auditory communication in a range of important applications. This paper advances the field of tactile communication by presenting performance data on a variety of tactors and a finger restraint that is suitable for use in portable devices. Tactors, the contact elements between the device and the skin, and finger restraints were evaluated using a tangential skin displacement direction identification task. We tested tactors of three sizes and two different textures. Rough textured tactors improved communication accuracy compared to smooth tactors, but tactor size did not have a statistically significant effect. Aperture-based restraints of three sizes were evaluated on both the index finger and the thumb. The aperture-based restraint was effective when used on both the index finger and the thumb, with performances on par with our previously tested thimble-based restraint. Participants performed better with larger apertures than with smaller apertures, but there was no interaction between aperture size and finger size, meaning that the same aperture could be used with a range of finger sizes. Subjects' perceptual acuity varied with stimulus direction. We discuss the effects of contact force, finger size, and differences in perceptual acuity between the index finger and thumb.

Fingerpad Skin Stretch Increases the Perception of Virtual Friction.

This research focuses on the relative importance of fingerpad skin stretch on the perception of friction. It is hypothesized that the perceived magnitude of friction rendered by traditional force feedback can be increased through the addition of fingertip skin stretch. Perceptual data are presented from two separate tests performed on nine male subjects. The first experiment determines the perceptual thresholds for friction based on a modified Karnopp friction model where friction is rendered as purely a kinesthetic resistance via a PHANToM force feedback device. JNDs of 0.056-50.150 corresponding to static coefficients for friction of mus = 0.2-0.8 were established. The second experiment evaluates possible changes in the perceived friction magnitude due to imposing small amounts of tangential skin stretch (0.25-0.75 mm) to the fingerpad in combination with force feedback (kinesthetic resistance). Our results show that even these small amounts of skin stretch lead to a statistically significant increase in perceived friction (p < 0.01). This significant finding will enable the hapticians to more realistically and accurately render friction via a combination of kinesthetic resistance and tactile feedback.