research-article

Importance of Matching Physical Friction, Hardness, and Texture in Creating Realistic Haptic Virtual Surfaces

Authors:

Heather Culbertson,

Katherine J. KuchenbeckerAuthors Info & Claims

IEEE Transactions on Haptics, Volume 10, Issue 1

Pages 63 - 74

https://doi.org/10.1109/TOH.2016.2598751

Published: 01 January 2017 Publication History

Abstract

Interacting with physical objects through a tool elicits tactile and kinesthetic sensations that comprise your haptic impression of the object. These cues, however, are largely missing from interactions with virtual objects, yielding an unrealistic user experience. This article evaluates the realism of virtual surfaces rendered using haptic models constructed from data recorded during interactions with real surfaces. The models include three components: surface friction, tapping transients, and texture vibrations. We render the virtual surfaces on a SensAble Phantom Omni haptic interface augmented with a Tactile Labs Haptuator for vibration output. We conducted a human-subject study to assess the realism of these virtual surfaces and the importance of the three model components. Following a perceptual discrepancy paradigm, subjects compared each of 15 real surfaces to a full rendering of the same surface plus versions missing each model component. The realism improvement achieved by including friction, tapping, or texture in the rendering was found to directly relate to the intensity of the surface's property in that domain (slipperiness, hardness, or roughness). A subsequent analysis of forces and vibrations measured during interactions with virtual surfaces indicated that the Omni's inherent mechanical properties corrupted the user's haptic experience, decreasing realism of the virtual surface.

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Cited By

Wang JLu CShao YShu YLiu JTan RHe YChen J(2024)Demo Abstract: RemoteHap: Enabling Haptic Exploration of Distant 3D ObjectsProceedings of the 22nd ACM Conference on Embedded Networked Sensor Systems10.1145/3666025.3699398(840-841)Online publication date: 4-Nov-2024
https://dl.acm.org/doi/10.1145/3666025.3699398
Cabaret PHoward TGicquel GPacchierotti CBabel MMarchal M(2024)Does Multi-Actuator Vibrotactile Feedback Within Tangible Objects Enrich VR Manipulation?IEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2023.327939830:8(4767-4779)Online publication date: 1-Aug-2024
https://dl.acm.org/doi/10.1109/TVCG.2023.3279398
Khojasteh BShao YKuchenbecker K(2024)Robust Surface Recognition With the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals Through Bandwidth and NoiseIEEE Transactions on Haptics10.1109/TOH.2024.335660917:1(58-65)Online publication date: 1-Jan-2024
https://dl.acm.org/doi/10.1109/TOH.2024.3356609
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Importance of Matching Physical Friction, Hardness, and Texture in Creating Realistic Haptic Virtual Surfaces
1. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction devices

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cover image IEEE Transactions on Haptics

IEEE Transactions on Haptics Volume 10, Issue 1

January 2017

139 pages

ISSN:1939-1412

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Copyright © 2017.

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IEEE Computer Society Press

Washington, DC, United States

Publication History

Published: 01 January 2017

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Wang JLu CShao YShu YLiu JTan RHe YChen J(2024)Demo Abstract: RemoteHap: Enabling Haptic Exploration of Distant 3D ObjectsProceedings of the 22nd ACM Conference on Embedded Networked Sensor Systems10.1145/3666025.3699398(840-841)Online publication date: 4-Nov-2024
https://dl.acm.org/doi/10.1145/3666025.3699398
Cabaret PHoward TGicquel GPacchierotti CBabel MMarchal M(2024)Does Multi-Actuator Vibrotactile Feedback Within Tangible Objects Enrich VR Manipulation?IEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2023.327939830:8(4767-4779)Online publication date: 1-Aug-2024
https://dl.acm.org/doi/10.1109/TVCG.2023.3279398
Khojasteh BShao YKuchenbecker K(2024)Robust Surface Recognition With the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals Through Bandwidth and NoiseIEEE Transactions on Haptics10.1109/TOH.2024.335660917:1(58-65)Online publication date: 1-Jan-2024
https://dl.acm.org/doi/10.1109/TOH.2024.3356609
Tao LWang FLi YWu JJiang XXi Q(2024)A cross-texture haptic model based on tactile feature fusionMultimedia Systems10.1007/s00530-024-01361-530:3Online publication date: 25-May-2024
https://dl.acm.org/doi/10.1007/s00530-024-01361-5
Balasubramanian JKodak BVardar Y(2024)SENS3: Multisensory Database of Finger-Surface Interactions and Corresponding SensationsHaptics: Understanding Touch; Technology and Systems; Applications and Interaction10.1007/978-3-031-70058-3_21(262-277)Online publication date: 30-Jun-2024
https://dl.acm.org/doi/10.1007/978-3-031-70058-3_21
Petreca BTajadura-Jiménez ATurmo Vidal LNascimento RSeifi HLey-Flores JSingh ABerthouze NObrist MBaurley S(2023)Body x MaterialsExtended Abstracts of the 2023 CHI Conference on Human Factors in Computing Systems10.1145/3544549.3573807(1-7)Online publication date: 19-Apr-2023
https://dl.acm.org/doi/10.1145/3544549.3573807
Yun GMun MLee JKim DTan HChoi S(2023)Generating Real-Time, Selective, and Multimodal Haptic Effects from Sound for Gaming Experience EnhancementProceedings of the 2023 CHI Conference on Human Factors in Computing Systems10.1145/3544548.3580787(1-17)Online publication date: 19-Apr-2023
https://dl.acm.org/doi/10.1145/3544548.3580787
Fazlollahi FKuchenbecker K(2023)Haptify: A Measurement-Based Benchmarking System for Grounded Force-Feedback DevicesIEEE Transactions on Robotics10.1109/TRO.2022.322611039:2(1622-1636)Online publication date: 1-Apr-2023
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Ujitoko YBan Y(2023)Toward Designing Haptic Displays for Desired Touch Targets: A Study of User Expectation for Haptic Properties via CrowdsourcingIEEE Transactions on Haptics10.1109/TOH.2023.331066216:4(726-735)Online publication date: 1-Oct-2023
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Otake KOkamoto SAkiyama YYamada Y(2022)Tactile Texture Display Combining Vibrotactile and Electrostatic-friction Stimuli: Substantial Effects on Realism and Moderate Effects on Behavioral ResponsesACM Transactions on Applied Perception10.1145/353973319:4(1-18)Online publication date: 7-Nov-2022
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