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Analysis of the JND of Stiness in Three Modesof Comparison
Linköping University, Department of Science and Technology, Media and Information Technology. Linköping University, The Institute of Technology. (Visual Information Technology and Applications - VITA)
Linköping University, Department of Science and Technology, Media and Information Technology. Linköping University, The Institute of Technology.ORCID iD: 0000-0003-2429-0842
Linköping University, Department of Science and Technology, Media and Information Technology. Linköping University, The Institute of Technology.
Linköping University, Department of Science and Technology, Media and Information Technology. Linköping University, The Institute of Technology.ORCID iD: 0000-0002-9466-9826
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2011 (English)In: HAID'11 Proceedings of the 6th international conference on Haptic and audio interaction design, Springer Berlin/Heidelberg, 2011, 22-31 p.Conference paper, Published paper (Other academic)
Abstract [en]

Understanding and explaining perception of touch is a non-trivial task. Even seemingly trivial differences in exploration may potentially have a significant impact on perception and levels of discrimination. In this study, we explore different aspects of contact related to stiffness perception and their effects on the just noticeable difference (JND) of stiffness are surveyed. An experiment has been performed on non-deformable, compliant objects in a virtual environment with three different types of contact: Discontinuous pressure, continuous pressure and continuous lateral motion. The result shows a significantly better discrimination performance in the case of continuous pressure (a special case of nonlinearity), which can be explained by the concept of haptic memory. Moreover, it is found that the perception is worse for the changes that occur along the lateral axis than the normal axis.

Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2011. 22-31 p.
Lecture Notes in Computer Science, ISSN 0302-9743 (print), 1611-3349 (online) ; 6851
Keyword [en]
perception, stiffness, JND, exploratory procedures, haptics
National Category
Interaction Technologies
URN: urn:nbn:se:liu:diva-79898DOI: 10.1007/978-3-642-22950-3_3ISBN: 978-3-642-22949-7 (print)ISBN: 978-3-642-22950-3 (print)OAI: diva2:544542
6th international conference on Haptic and audio interaction design (HAID 2011), Kusatsu, Japan, 25-26 August
Available from: 2012-08-28 Created: 2012-08-15 Last updated: 2015-09-22Bibliographically approved
In thesis
1. Haptic Interaction with Deformable Objects
Open this publication in new window or tab >>Haptic Interaction with Deformable Objects
2013 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

The integration of haptics into virtual environments has triggered a new era by allowing interaction with virtual objects through force feedback in a number of fields. Medicine has been the field with highest potential benefit through improved realism and immersion. Not only have virtual environments become superior to traditional medical training methods due to cost-efficiency, repeatability, and objective assessment but the idea of surgery rehearsal by using patient specific data has been raised as well.

Achieving sufficient realism in haptics has been a significant challenge due to performance requirements. In order to provide a stable and smooth feedback to the user, the update rates of force feedback need to be in the range of 1~kHz, which restricts the solution time for real-time interactive applications. Realism, on the other hand, demands advanced algorithms capable of simulating physical properties. These advanced algorithms have a high computational burden, taking significant amounts of time and their real-time use, therefore, mostly requires simplification of the virtual scene affecting realism.

During palpation, information is transferred to the hand from the local neighbourhood of contact. In deformation simulations, it is therefore common to use a multiresolution scheme, where the local region is modelled with a higher resolution than more distant regions, and at higher update rates. This approach saves computational power, however the less elaborate modelling in the more remote regions affects accuracy. This thesis presents a pipeline to analyse the error introduced by multiresolution techniques. The idea is to estimate how simulation parameters lead to different error magnitudes, as a preprocessing step. This information can subsequently be used for monitoring the error in real-time, or for adjusting simulation parameters to keep the error under a desired limit.

There is a trade-off between accuracy/error and computation time required. In an ideal situation, this error should be kept under perceivable levels. Levels of perception is a topic that has been surveyed in psychophysics among other aspects of touch. It has been shown that differences smaller than a ratio of a reference signal, such as force or stiffness, cannot be perceived. Evaluating the exact value of this ratio, however, is nontrivial since there are many secondary factors having a significant impact, such as the multimodal input. This thesis presents the analysis of some factors affecting the sense of touch that were shown to have such impact. Effects of exploratory procedures on stiffness perception were examined through user studies, followed by another study indicating the significant effects of stiffness gradient.

Medical data, such as MR and CT, has much higher resolution than is practically used for deformable meshes. It has been common practice to model deformation behaviour by a mesh with lower resolution than is used for visual representation. Lastly, this thesis presents an approach to introduce high-resolution information. The proposed algorithm allows for the detection of inhomogeneous structures beneath a surface. This can be applied in situations similar to the diagnosis of tumours by palpation. The approach is independent of mesh structure and resolution, and can be integrated into any proxybased haptic rendering algorithm. This makes the algorithm a complementary choice for deformation simulation.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2013. 72 p.
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1522
National Category
Engineering and Technology
urn:nbn:se:liu:diva-92804 (URN)978-91-7519-615-2 (ISBN)
Public defence
2013-06-05, Domteatern, Visualiseringscenter C, Kungsgatan 54, 602 33 Norrköping, 09:15 (English)
Available from: 2013-05-22 Created: 2013-05-22 Last updated: 2014-10-08Bibliographically approved

Open Access in DiVA

HAID2011(347 kB)