Effects of Latency and Refresh Rate on Force Perception via Sensory Substitution by Force-Controlled Skin Deformation Feedback
Abstract/Contents
- Abstract
- Latency and refresh rate are known to adversely affect human force perception in bilateral teleoperators and virtual environments using kinesthetic force feedback, motivating the use of sensory substitution of force. The purpose of this study is to quantify the effects of latency and refresh rate on force perception using sensory substitution by skin deformation feedback. A force-controlled skin deformation feedback device was attached to a 3-degree-of-freedom kinesthetic force feedback device used for position tracking and gravity support. A human participant study was conducted to determine the effects of latency and refresh rate on perceived stiffness and damping with skin deformation feedback. Participants compared two virtual objects: a comparison object with stiffness or damping that could be tuned by the participant, and a reference object with either added latency or reduced refresh rate. Participants modified the stiffness or damping of the tunable object until it resembled the stiffness or damping of the reference object. We found that added latency and reduced refresh rate both increased perceived stiffness but had no effect on perceived damping. Specifically, participants felt significantly different stiffness when the latency exceeded 300 ms and the refresh rate dropped below 16.6 Hz. The impact of latency and refresh rate on force perception via skin deformation feedback was significantly less than what has been previously shown for kinesthetic force feedback.
Description
| Type of resource | text |
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| Date created | May 14, 2018 |
Creators/Contributors
| Author | Zook, Zane Anthony |
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| Advisor | Okamura, Allison Mariko |
| Primary advisor | Kamikawa, Yasuhisa |
| Degree granting institution | Stanford University, Department of Mechanical Engineering |
Subjects
| Subject | Stanford University Department of Mechanical Engineering CHARM Lab |
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| Subject | Haptics and Interfaces |
| Genre | Thesis |
Bibliographic information
| Related Publication | Z. A. Zook, A. M. Okamura and Y. Kamikawa(2018) Effects of Latency and Refresh Rate on Force Perception via Sensory Substitution by Force-Controlled Skin Deformation Feedback. In IEEE International Conference on Robotics and Automation, in press. |
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| Location | https://purl.stanford.edu/vf291wf7367 |
Access conditions
- Use and reproduction
- User agrees that, where applicable, content will not be used to identify or to otherwise infringe the privacy or confidentiality rights of individuals. Content distributed via the Stanford Digital Repository may be subject to additional license and use restrictions applied by the depositor.
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
Preferred citation
- Preferred Citation
- Zook, Zane Anthony. (2018). Effects of Latency and Refresh Rate on Force Perception via Sensory Substitution by Force-Controlled Skin Deformation Feedback. Stanford Digital Repository. Available at: https://purl.stanford.edu/vf291wf7367
Collection
Undergraduate Theses, School of Engineering
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- Contact
- zzook@stanford.edu
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