Experiments in fingertip perception of surface discontinuities
Identifieur interne : 000074 ( PascalFrancis/Curation ); précédent : 000073; suivant : 000075Experiments in fingertip perception of surface discontinuities
Auteurs : S. C. Venema [États-Unis] ; B. HannafordSource :
- International Journal of Robotics Research [ 0278-3649 ] ; 2000.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Amortissement, Réalité virtuelle.
English descriptors
- KwdEn :
Abstract
In this paper, we present the results of experiments that explore the ability of the human fingertip to detect haptically simulated first-order and second-order surface discontinuities. A single finger, planar motion fingertip haptic display (FHD) developed at the University of Washington was used by multiple test operators to kinesthetically trace haptically simulated surfaces under a variety of treatment conditions. Experiment variables included the magnitude and type of discontinuity, as well as the stiffness and damping terms used in the haptic simulation algorithm. Test operators were asked to haptically locate a discontinuity on a simulated surface for each treatment condition with the location accuracy being used as the experiment performance metric. The results reveal how the surface discontinuity detection ability is degraded by control gains that are either too low or too high, indicating that a given haptic simulation system may have an optimum set of control gains that will yield the best performance for this type of task.
| pA |
|
|---|
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: Pour aller vers cette notice dans l'étape Curation :001438
Links to Exploration step
Pascal:01-0083056Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Experiments in fingertip perception of surface discontinuities</title><author><name sortKey="Venema, S C" sort="Venema, S C" uniqKey="Venema S" first="S. C." last="Venema">S. C. Venema</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Univ of Washington</s1><s2>Seattle WA</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14><country>États-Unis</country></affiliation></author><author><name sortKey="Hannaford, B" sort="Hannaford, B" uniqKey="Hannaford B" first="B." last="Hannaford">B. Hannaford</name></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">01-0083056</idno><date when="2000">2000</date><idno type="stanalyst">PASCAL 01-0083056 EI</idno><idno type="RBID">Pascal:01-0083056</idno><idno type="wicri:Area/PascalFrancis/Corpus">001438</idno><idno type="wicri:Area/PascalFrancis/Curation">000074</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Experiments in fingertip perception of surface discontinuities</title><author><name sortKey="Venema, S C" sort="Venema, S C" uniqKey="Venema S" first="S. C." last="Venema">S. C. Venema</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Univ of Washington</s1><s2>Seattle WA</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14><country>États-Unis</country></affiliation></author><author><name sortKey="Hannaford, B" sort="Hannaford, B" uniqKey="Hannaford B" first="B." last="Hannaford">B. Hannaford</name></author></analytic><series><title level="j" type="main">International Journal of Robotics Research</title><title level="j" type="abbreviated">Int J Rob Res</title><idno type="ISSN">0278-3649</idno><imprint><date when="2000">2000</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">International Journal of Robotics Research</title><title level="j" type="abbreviated">Int J Rob Res</title><idno type="ISSN">0278-3649</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Computer simulation</term><term>Damping</term><term>Experiments</term><term>Fingertip haptic display (FHD)</term><term>Gain control</term><term>Matrix algebra</term><term>Sensory perception</term><term>Stiffness</term><term>Surface discontinuities</term><term>Surface roughness</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Expérience</term><term>Perception sensorielle</term><term>Rugosité</term><term>Commande gain</term><term>Rigidité</term><term>Amortissement</term><term>Algorithme</term><term>Simulation ordinateur</term><term>Algèbre matricielle</term><term>Réalité virtuelle</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Amortissement</term><term>Réalité virtuelle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper, we present the results of experiments that explore the ability of the human fingertip to detect haptically simulated first-order and second-order surface discontinuities. A single finger, planar motion fingertip haptic display (FHD) developed at the University of Washington was used by multiple test operators to kinesthetically trace haptically simulated surfaces under a variety of treatment conditions. Experiment variables included the magnitude and type of discontinuity, as well as the stiffness and damping terms used in the haptic simulation algorithm. Test operators were asked to haptically locate a discontinuity on a simulated surface for each treatment condition with the location accuracy being used as the experiment performance metric. The results reveal how the surface discontinuity detection ability is degraded by control gains that are either too low or too high, indicating that a given haptic simulation system may have an optimum set of control gains that will yield the best performance for this type of task.</div></front></TEI><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0278-3649</s0></fA01><fA02 i1="01"><s0>IJRREL</s0></fA02><fA03 i2="1"><s0>Int J Rob Res</s0></fA03><fA05><s2>19</s2></fA05><fA06><s2>7</s2></fA06><fA08 i1="01" i2="1" l="ENG"><s1>Experiments in fingertip perception of surface discontinuities</s1></fA08><fA11 i1="01" i2="1"><s1>VENEMA (S. C.)</s1></fA11><fA11 i1="02" i2="1"><s1>HANNAFORD (B.)</s1></fA11><fA14 i1="01"><s1>Univ of Washington</s1><s2>Seattle WA</s2><s3>USA</s3><sZ>1 aut.</sZ></fA14><fA20><s1>684-696</s1></fA20><fA21><s1>2000</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA43 i1="01"><s1>INIST</s1><s2>20091</s2></fA43><fA44><s0>A100</s0></fA44><fA45><s0>35 Refs.</s0></fA45><fA47 i1="01" i2="1"><s0>01-0083056</s0></fA47><fA60><s1>P</s1></fA60><fA61><s0>A</s0></fA61><fA64 i1="01" i2="1"><s0>International Journal of Robotics Research</s0></fA64><fA66 i1="01"><s0>USA</s0></fA66><fC01 i1="01" l="ENG"><s0>In this paper, we present the results of experiments that explore the ability of the human fingertip to detect haptically simulated first-order and second-order surface discontinuities. A single finger, planar motion fingertip haptic display (FHD) developed at the University of Washington was used by multiple test operators to kinesthetically trace haptically simulated surfaces under a variety of treatment conditions. Experiment variables included the magnitude and type of discontinuity, as well as the stiffness and damping terms used in the haptic simulation algorithm. Test operators were asked to haptically locate a discontinuity on a simulated surface for each treatment condition with the location accuracy being used as the experiment performance metric. The results reveal how the surface discontinuity detection ability is degraded by control gains that are either too low or too high, indicating that a given haptic simulation system may have an optimum set of control gains that will yield the best performance for this type of task.</s0></fC01><fC02 i1="01" i2="X"><s0>001D02B</s0></fC02><fC02 i1="02" i2="X"><s0>002A26A</s0></fC02><fC02 i1="03" i2="3"><s0>001B70</s0></fC02><fC02 i1="04" i2="X"><s0>001D02D</s0></fC02><fC02 i1="05" i2="3"><s0>001B00C40</s0></fC02><fC02 i1="06" i2="X"><s0>001A02D</s0></fC02><fC03 i1="01" i2="1" l="ENG"><s0>Fingertip haptic display (FHD)</s0><s4>INC</s4></fC03><fC03 i1="02" i2="1" l="ENG"><s0>Surface discontinuities</s0><s4>INC</s4></fC03><fC03 i1="03" i2="1" l="FRE"><s0>Expérience</s0></fC03><fC03 i1="03" i2="1" l="ENG"><s0>Experiments</s0></fC03><fC03 i1="04" i2="1" l="FRE"><s0>Perception sensorielle</s0></fC03><fC03 i1="04" i2="1" l="ENG"><s0>Sensory perception</s0></fC03><fC03 i1="05" i2="1" l="FRE"><s0>Rugosité</s0></fC03><fC03 i1="05" i2="1" l="ENG"><s0>Surface roughness</s0></fC03><fC03 i1="06" i2="1" l="FRE"><s0>Commande gain</s0></fC03><fC03 i1="06" i2="1" l="ENG"><s0>Gain control</s0></fC03><fC03 i1="07" i2="X" l="FRE"><s0>Rigidité</s0></fC03><fC03 i1="07" i2="X" l="ENG"><s0>Stiffness</s0></fC03><fC03 i1="07" i2="X" l="SPA"><s0>Rigidez</s0></fC03><fC03 i1="08" i2="1" l="FRE"><s0>Amortissement</s0></fC03><fC03 i1="08" i2="1" l="ENG"><s0>Damping</s0></fC03><fC03 i1="09" i2="1" l="FRE"><s0>Algorithme</s0></fC03><fC03 i1="09" i2="1" l="ENG"><s0>Algorithms</s0></fC03><fC03 i1="10" i2="1" l="FRE"><s0>Simulation ordinateur</s0></fC03><fC03 i1="10" i2="1" l="ENG"><s0>Computer simulation</s0></fC03><fC03 i1="11" i2="1" l="FRE"><s0>Algèbre matricielle</s0></fC03><fC03 i1="11" i2="1" l="ENG"><s0>Matrix algebra</s0></fC03><fC03 i1="12" i2="1" l="FRE"><s0>Réalité virtuelle</s0><s3>P</s3></fC03><fC03 i1="12" i2="1" l="ENG"><s0>Virtual reality</s0><s3>P</s3></fC03><fN21><s1>063</s1></fN21></pA></standard></inist></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000074 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Curation/biblio.hfd -nk 000074 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= PascalFrancis
|étape= Curation
|type= RBID
|clé= Pascal:01-0083056
|texte= Experiments in fingertip perception of surface discontinuities
}}
| This area was generated with Dilib version V0.6.23. |  |