Event-Based Haptics and Acceleration Matching: Portraying and Assessing the Realism of Contact

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General Robotics, Automation, Sensing and Perception Laboratory
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Contact in a typical haptic environment resembles the experience of tapping on soft foam, rather than on a hard object. Event-based, high-frequency transient forces must be superimposed with traditional proportional feedback to provide realistic haptic cues at impact. We have developed a new method for matching the accelerations experienced during real contact, inverting a dynamic model of the device to compute appropriate force feedback transients. We evaluated this haptic rendering paradigm by conducting a study in which users blindly rated the realism of tapping on a variety of virtually rendered surfaces as well as on three real objects. Event-based feedback significantly increased the realism of the virtual surfaces, and the acceleration matching strategy was rated similarly to a sample of real wood on a foam substrate. This work provides a new avenue for achieving realism of contact in haptic interactions.

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Suggested Citation: Kuchenbecker, Katherine J. Jonathan P. Fiene and Gunter Niemeyer. (2005). Event-Based Haptics and Acceleration Matching: Portraying and Assessing the Realism of Contact. First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. Pisa, Italy. March 18-20, 2005. ©2005 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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