Delays in Admittance-Controlled Haptic Devices Make Simulated Masses Feel Heavier.
Identifieur interne : 000252 ( PubMed/Curation ); précédent : 000251; suivant : 000253Delays in Admittance-Controlled Haptic Devices Make Simulated Masses Feel Heavier.
Auteurs : Irene A. Kuling [Pays-Bas] ; Jeroen B J. Smeets [Pays-Bas] ; Piet Lammertse [Pays-Bas] ; Bram Onneweer [Pays-Bas] ; Winfred Mugge [Pays-Bas]Source :
- PloS one [ 1932-6203 ] ; 2015.
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Abstract
In an admittance-controlled haptic device, input forces are used to calculate the movement of the device. Although developers try to minimize delays, there will always be delays between the applied force and the corresponding movement in such systems, which might affect what the user of the device perceives. In this experiment we tested whether these delays in a haptic human-robot interaction influence the perception of mass. In the experiment an admittance-controlled manipulator was used to simulate various masses. In a staircase design subjects had to decide which of two virtual masses was heavier after gently pushing them leftward with the right hand in mid-air (no friction, no gravity). The manipulator responded as quickly as possible or with an additional delay (25 or 50 ms) to the forces exerted by the subject on the handle of the haptic device. The perceived mass was ~10% larger for a delay of 25 ms and ~20% larger for a delay of 50 ms. Based on these results, we estimated that the delays that are present in nowadays admittance-controlled haptic devices (up to 20ms) will give an increase in perceived mass which is smaller than the Weber fraction for mass (~10% for inertial mass). Additional analyses showed that the subjects' decision on mass when the perceptual differences were small did not correlate with intuitive variables such as force, velocity or a combination of these, nor with any other measured variable, suggesting that subjects did not have a consistent strategy during guessing or used other sources of information, for example the efference copy of their pushes.
DOI: 10.1371/journal.pone.0138023
PubMed: 26361353
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Although developers try to minimize delays, there will always be delays between the applied force and the corresponding movement in such systems, which might affect what the user of the device perceives. In this experiment we tested whether these delays in a haptic human-robot interaction influence the perception of mass. In the experiment an admittance-controlled manipulator was used to simulate various masses. In a staircase design subjects had to decide which of two virtual masses was heavier after gently pushing them leftward with the right hand in mid-air (no friction, no gravity). The manipulator responded as quickly as possible or with an additional delay (25 or 50 ms) to the forces exerted by the subject on the handle of the haptic device. The perceived mass was ~10% larger for a delay of 25 ms and ~20% larger for a delay of 50 ms. Based on these results, we estimated that the delays that are present in nowadays admittance-controlled haptic devices (up to 20ms) will give an increase in perceived mass which is smaller than the Weber fraction for mass (~10% for inertial mass). Additional analyses showed that the subjects' decision on mass when the perceptual differences were small did not correlate with intuitive variables such as force, velocity or a combination of these, nor with any other measured variable, suggesting that subjects did not have a consistent strategy during guessing or used other sources of information, for example the efference copy of their pushes.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">26361353</PMID><DateCreated><Year>2015</Year><Month>09</Month><Day>12</Day></DateCreated><DateCompleted><Year>2016</Year><Month>06</Month><Day>06</Day></DateCompleted><DateRevised><Year>2015</Year><Month>09</Month><Day>19</Day></DateRevised><Article PubModel="Electronic-eCollection"><Journal><ISSN IssnType="Electronic">1932-6203</ISSN><JournalIssue CitedMedium="Internet"><Volume>10</Volume><Issue>9</Issue><PubDate><Year>2015</Year></PubDate></JournalIssue><Title>PloS one</Title><ISOAbbreviation>PLoS ONE</ISOAbbreviation></Journal><ArticleTitle>Delays in Admittance-Controlled Haptic Devices Make Simulated Masses Feel Heavier.</ArticleTitle><Pagination><MedlinePgn>e0138023</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1371/journal.pone.0138023</ELocationID><Abstract><AbstractText>In an admittance-controlled haptic device, input forces are used to calculate the movement of the device. Although developers try to minimize delays, there will always be delays between the applied force and the corresponding movement in such systems, which might affect what the user of the device perceives. In this experiment we tested whether these delays in a haptic human-robot interaction influence the perception of mass. In the experiment an admittance-controlled manipulator was used to simulate various masses. In a staircase design subjects had to decide which of two virtual masses was heavier after gently pushing them leftward with the right hand in mid-air (no friction, no gravity). The manipulator responded as quickly as possible or with an additional delay (25 or 50 ms) to the forces exerted by the subject on the handle of the haptic device. The perceived mass was ~10% larger for a delay of 25 ms and ~20% larger for a delay of 50 ms. Based on these results, we estimated that the delays that are present in nowadays admittance-controlled haptic devices (up to 20ms) will give an increase in perceived mass which is smaller than the Weber fraction for mass (~10% for inertial mass). Additional analyses showed that the subjects' decision on mass when the perceptual differences were small did not correlate with intuitive variables such as force, velocity or a combination of these, nor with any other measured variable, suggesting that subjects did not have a consistent strategy during guessing or used other sources of information, for example the efference copy of their pushes.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Kuling</LastName><ForeName>Irene A</ForeName><Initials>IA</Initials><AffiliationInfo><Affiliation>MOVE Research Institute Amsterdam, Faculty of Human Movement Sciences, VU University, Amsterdam, the Netherlands.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Smeets</LastName><ForeName>Jeroen B J</ForeName><Initials>JB</Initials><AffiliationInfo><Affiliation>MOVE Research Institute Amsterdam, Faculty of Human Movement Sciences, VU University, Amsterdam, the Netherlands.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Lammertse</LastName><ForeName>Piet</ForeName><Initials>P</Initials><AffiliationInfo><Affiliation>Moog B.V., Nieuw-Vennep, the Netherlands.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Onneweer</LastName><ForeName>Bram</ForeName><Initials>B</Initials><AffiliationInfo><Affiliation>Department of Biomechanical Engineering, Delft University of Technology, Delft, the Netherlands.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Mugge</LastName><ForeName>Winfred</ForeName><Initials>W</Initials><AffiliationInfo><Affiliation>MOVE Research Institute Amsterdam, Faculty of Human Movement Sciences, VU University, Amsterdam, the Netherlands.</Affiliation></AffiliationInfo></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2015</Year><Month>09</Month><Day>11</Day></ArticleDate></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>PLoS One</MedlineTA><NlmUniqueID>101285081</NlmUniqueID><ISSNLinking>1932-6203</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><CommentsCorrectionsList><CommentsCorrections RefType="Cites"><RefSource>Hum Factors. 2012 Oct;54(5):786-98</RefSource><PMID Version="1">23156623</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>IEEE Trans Haptics. 2013 Jan-Mar;6(1):2-12</RefSource><PMID Version="1">24808263</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Percept Psychophys. 1999 Nov;61(8):1681-5</RefSource><PMID Version="1">10598479</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Science. 2003 Jul 11;301(5630):187</RefSource><PMID Version="1">12855800</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>PLoS One. 2012;7(8):e42518</RefSource><PMID Version="1">22912704</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Q J Exp Psychol A. 1987 Feb;39(1):77-88</RefSource><PMID Version="1">3615942</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Atten Percept Psychophys. 2010 May;72(4):1144-54</RefSource><PMID Version="1">20436207</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Brain Res Bull. 2011 Jun 30;85(5):245-59</RefSource><PMID Version="1">20193747</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Exp Brain Res. 2012 Jun;219(4):431-40</RefSource><PMID Version="1">22623088</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Percept Psychophys. 1982 May;31(5):429-36</RefSource><PMID 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Interface</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D014892">Weight Perception</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName></MeshHeading></MeshHeadingList><OtherID Source="NLM">PMC4567313</OtherID></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="ecollection"><Year>2015</Year><Month></Month><Day></Day></PubMedPubDate><PubMedPubDate PubStatus="received"><Year>2015</Year><Month>2</Month><Day>3</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2015</Year><Month>8</Month><Day>24</Day></PubMedPubDate><PubMedPubDate PubStatus="epublish"><Year>2015</Year><Month>9</Month><Day>11</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2015</Year><Month>9</Month><Day>12</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2015</Year><Month>9</Month><Day>12</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate 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