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A psychophysical evaluation of haptic controllers: viscosity perception of soft environments

Son, Hyoung Il; Jung, Hoeryong; Lee, Doo Yong; Cho, Jang Ho LU and Buelthoff, Heinrich H. (2014) In Robotica 32(1). p.1-17
Abstract
In this paper, human viscosity perception in haptic teleoperation systems is thoroughly analyzed. An accurate perception of viscoelastic environmental properties such as viscosity is a critical ability in several contexts, such as telesurgery, telerehabilitation, telemedicine, and soft-tissue interaction. We study and compare the ability to perceive viscosity from the standpoint of detection and discrimination using several relevant control methods for the teleoperator. The perception-based method, which was proposed by the authors to enhance the operator's kinesthetic perception, is compared with the conventional transparency-based control method for the teleoperation system. The fidelity-based method, which is a primary method among... (More)
In this paper, human viscosity perception in haptic teleoperation systems is thoroughly analyzed. An accurate perception of viscoelastic environmental properties such as viscosity is a critical ability in several contexts, such as telesurgery, telerehabilitation, telemedicine, and soft-tissue interaction. We study and compare the ability to perceive viscosity from the standpoint of detection and discrimination using several relevant control methods for the teleoperator. The perception-based method, which was proposed by the authors to enhance the operator's kinesthetic perception, is compared with the conventional transparency-based control method for the teleoperation system. The fidelity-based method, which is a primary method among perception-centered control schemes in teleoperation, is also studied. We also examine the necessity and impact of the remote-site force information for each of the methods. The comparison is based on a series of psychophysical experiments measuring absolute threshold and just noticeable difference for all conditions. The results clearly show that the perception-based method enhances both detection and discrimination abilities compare with other control methods. The results further show that the fidelity-based method confers a better discrimination ability than the transparency-based method, although this is not true with respect to detection ability. In addition, we show that force information improves viscosity detection for all control methods, as predicted from previous theoretical analysis, but improves the discrimination threshold only for the perception-based method. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Haptic controller, Telemedicine, Teleoperation, Viscosity perception, Psychophysical evaluation
in
Robotica
volume
32
issue
1
pages
1 - 17
publisher
Publindustria, Portugal
external identifiers
  • wos:000328067600001
  • scopus:84890087467
ISSN
0263-5747
DOI
10.1017/S0263574713000593
language
English
LU publication?
yes
id
2b5ace92-9cbe-4202-820e-27b50a6bc73c (old id 4261961)
date added to LUP
2014-02-10 14:45:29
date last changed
2017-01-01 05:38:10
@article{2b5ace92-9cbe-4202-820e-27b50a6bc73c,
  abstract     = {In this paper, human viscosity perception in haptic teleoperation systems is thoroughly analyzed. An accurate perception of viscoelastic environmental properties such as viscosity is a critical ability in several contexts, such as telesurgery, telerehabilitation, telemedicine, and soft-tissue interaction. We study and compare the ability to perceive viscosity from the standpoint of detection and discrimination using several relevant control methods for the teleoperator. The perception-based method, which was proposed by the authors to enhance the operator's kinesthetic perception, is compared with the conventional transparency-based control method for the teleoperation system. The fidelity-based method, which is a primary method among perception-centered control schemes in teleoperation, is also studied. We also examine the necessity and impact of the remote-site force information for each of the methods. The comparison is based on a series of psychophysical experiments measuring absolute threshold and just noticeable difference for all conditions. The results clearly show that the perception-based method enhances both detection and discrimination abilities compare with other control methods. The results further show that the fidelity-based method confers a better discrimination ability than the transparency-based method, although this is not true with respect to detection ability. In addition, we show that force information improves viscosity detection for all control methods, as predicted from previous theoretical analysis, but improves the discrimination threshold only for the perception-based method.},
  author       = {Son, Hyoung Il and Jung, Hoeryong and Lee, Doo Yong and Cho, Jang Ho and Buelthoff, Heinrich H.},
  issn         = {0263-5747},
  keyword      = {Haptic controller,Telemedicine,Teleoperation,Viscosity perception,Psychophysical evaluation},
  language     = {eng},
  number       = {1},
  pages        = {1--17},
  publisher    = {Publindustria, Portugal},
  series       = {Robotica},
  title        = {A psychophysical evaluation of haptic controllers: viscosity perception of soft environments},
  url          = {http://dx.doi.org/10.1017/S0263574713000593},
  volume       = {32},
  year         = {2014},
}