HapticV1, Main, Exploration, bibRecord, 000198

Force Maintenance Accuracy Using a Tool: Effects of Magnitude and Feedback.

Identifieur interne : 000198 ( Main/Exploration ); précédent : 000197; suivant : 000199

Force Maintenance Accuracy Using a Tool: Effects of Magnitude and Feedback.

Auteurs : Dangxiao Wang ; Jian Jiao ; Gaofeng Yang ; Yuru Zhang

Source :

IEEE transactions on haptics [ 2329-4051 ] ; 2016.

RBID : pubmed:26930693

Abstract

The ability to precisely produce a force via a hand-held tool is crucial in fine manipulations. In this paper, we study the error in maintaining a target force ranging from 0.5N to 5N under two concurrent feedback conditions: pure haptic feedback (H), and visual plus haptic feedback (V+H). The results show that absolute error (AE) increases along with the increasing force magnitudes under both feedback conditions. For target forces ranging from 1.5N to 5N, the relative error (RE) is approximately constant under both feedback conditions, while the RE significantly increases for the small target forces of 0.5N and 1N. The effect of force magnitude on the coefficient of variation (CoV) is not significant for target forces ranging from 1.5N to 5N. For both the RE and the CoV, the values under the H condition are significantly larger than those under the V+H condition. The effect of manipulation mode (i.e. a hand-held tool or a fingertip) on force maintenance accuracy is complex, i.e. its effect on RE is not significant while its effect on CoV is significant. Only for the magnitude of 0.5N, the RE of using the tool was significantly greater than that of using the fingertip under both feedback conditions. For both the RE and the CoV, no interaction effect exists between manipulation mode, force magnitude and feedback condition.

DOI: 10.1109/TOH.2016.2535216
PubMed: 26930693

Affiliations:

Le document en format XML

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<front><div type="abstract" xml:lang="en">The ability to precisely produce a force via a hand-held tool is crucial in fine manipulations. In this paper, we study the error in maintaining a target force ranging from 0.5N to 5N under two concurrent feedback conditions: pure haptic feedback (H), and visual plus haptic feedback (V+H). The results show that absolute error (AE) increases along with the increasing force magnitudes under both feedback conditions. For target forces ranging from 1.5N to 5N, the relative error (RE) is approximately constant under both feedback conditions, while the RE significantly increases for the small target forces of 0.5N and 1N. The effect of force magnitude on the coefficient of variation (CoV) is not significant for target forces ranging from 1.5N to 5N. For both the RE and the CoV, the values under the H condition are significantly larger than those under the V+H condition. The effect of manipulation mode (i.e. a hand-held tool or a fingertip) on force maintenance accuracy is complex, i.e. its effect on RE is not significant while its effect on CoV is significant. Only for the magnitude of 0.5N, the RE of using the tool was significantly greater than that of using the fingertip under both feedback conditions. For both the RE and the CoV, no interaction effect exists between manipulation mode, force magnitude and feedback condition.</div>
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Force Maintenance Accuracy Using a Tool: Effects of Magnitude and Feedback.

Force Maintenance Accuracy Using a Tool: Effects of Magnitude and Feedback.

Source :

Abstract

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Le document en format XML

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