Shaping Event-Based Haptic Transients Via an Improved Understanding of Real Contact Dynamics

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General Robotics, Automation, Sensing and Perception Laboratory
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Haptic interactions with stiff virtual surfaces feel more realistic when a short-duration transient is added to the spring force at contact. But how should this event-based transient be shaped? To answer this question, we present a targeted user study on virtual surface realism that demonstrates the importance of scaling transients correctly and hints at the complexity of this dynamic relationship. We then present a detailed examination of the dynamics of tapping on a rigid surface with a hand-held probe; theoretical modeling is combined with empirical data to determine the influence of impact velocity, impact acceleration, and user grip force on the resulting transient surface force. The derived mathematical relationships provide a formula for generating open-loop, event-based force transients upon impact with a virtual surface. By incorporating an understanding of the dynamics of real interactions into the re-creation of virtual contact, these findings promise to improve the performance and realism of a wide range of haptic simulations.

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Suggested Citation: Fiene, Jonathan P. and Katherine J. Kuchenbecker. (2007). Shaping Event-Based haptic Transiets Via and Improved Understanding of Real Contact Dynamics. Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07). Tsukuba, Japan. March 22-24, 2007. ©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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