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Framework for human haptic perception with delayed force feedback. / Fu, Wei; van Paassen, Marinus M.; Abbink, David A.; Mulder, Max.

In: IEEE Transactions on Human-Machine Systems, Vol. 49, No. 2, 8585042, 2019, p. 171-182.

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Fu, Wei ; van Paassen, Marinus M. ; Abbink, David A. ; Mulder, Max. / Framework for human haptic perception with delayed force feedback. In: IEEE Transactions on Human-Machine Systems. 2019 ; Vol. 49, No. 2. pp. 171-182.

BibTeX

@article{d2b69bd1c89843859f23337b84155ca1,
title = "Framework for human haptic perception with delayed force feedback",
abstract = "Time delays in haptic teleoperation affect the ability of human operators to assess mechanical properties (damping, mass, and stiffness) of the remote environment. To address this, we propose a unified framework for human haptic perception of the mechanical properties of environments with delayed force feedback. In a first experiment, we found that the delay in the force feedback led our subjects to underestimate all the three mechanical properties. Moreover, subjects perceived additional damping or stiffness properties that the environment did not possess. It was found that the extents of these changes in the perception depend on both time-delay magnitude and the frequency of the movement with which subjects interacted with the environment. This was due to the fact that subjects were not able to distinguish the delay-caused phase shift in the movement-force relation from changes in the three mechanical properties. Based on this, we proposed a framework that allowed for a prediction of the change associated with delayed force in perception of mass-spring-damper environments. The framework was corroborated by a second experiment, in which a combined mass-damper environment was tested. Our hypotheses that the delay would cause subjects to underestimate the mass but overestimate the damping and that the extents of the under- A nd overestimation would differ between individual subjects due to the difference in the interaction frequency were confirmed.",
keywords = "Delays, Force, Force feedback, Haptic perception, haptics, Manipulators, mechanical properties, Springs, Task analysis, teleoperation, time delay",
author = "Wei Fu and {van Paassen}, {Marinus M.} and Abbink, {David A.} and Max Mulder",
note = "Accepted Author Manuscript",
year = "2019",
doi = "10.1109/THMS.2018.2885401",
language = "English",
volume = "49",
pages = "171--182",
journal = "IEEE Transactions on Human-Machine Systems",
issn = "2168-2291",
publisher = "IEEE Systems, Man, and Cybernetics Society",
number = "2",

}

RIS

TY - JOUR

T1 - Framework for human haptic perception with delayed force feedback

AU - Fu, Wei

AU - van Paassen, Marinus M.

AU - Abbink, David A.

AU - Mulder, Max

N1 - Accepted Author Manuscript

PY - 2019

Y1 - 2019

N2 - Time delays in haptic teleoperation affect the ability of human operators to assess mechanical properties (damping, mass, and stiffness) of the remote environment. To address this, we propose a unified framework for human haptic perception of the mechanical properties of environments with delayed force feedback. In a first experiment, we found that the delay in the force feedback led our subjects to underestimate all the three mechanical properties. Moreover, subjects perceived additional damping or stiffness properties that the environment did not possess. It was found that the extents of these changes in the perception depend on both time-delay magnitude and the frequency of the movement with which subjects interacted with the environment. This was due to the fact that subjects were not able to distinguish the delay-caused phase shift in the movement-force relation from changes in the three mechanical properties. Based on this, we proposed a framework that allowed for a prediction of the change associated with delayed force in perception of mass-spring-damper environments. The framework was corroborated by a second experiment, in which a combined mass-damper environment was tested. Our hypotheses that the delay would cause subjects to underestimate the mass but overestimate the damping and that the extents of the under- A nd overestimation would differ between individual subjects due to the difference in the interaction frequency were confirmed.

AB - Time delays in haptic teleoperation affect the ability of human operators to assess mechanical properties (damping, mass, and stiffness) of the remote environment. To address this, we propose a unified framework for human haptic perception of the mechanical properties of environments with delayed force feedback. In a first experiment, we found that the delay in the force feedback led our subjects to underestimate all the three mechanical properties. Moreover, subjects perceived additional damping or stiffness properties that the environment did not possess. It was found that the extents of these changes in the perception depend on both time-delay magnitude and the frequency of the movement with which subjects interacted with the environment. This was due to the fact that subjects were not able to distinguish the delay-caused phase shift in the movement-force relation from changes in the three mechanical properties. Based on this, we proposed a framework that allowed for a prediction of the change associated with delayed force in perception of mass-spring-damper environments. The framework was corroborated by a second experiment, in which a combined mass-damper environment was tested. Our hypotheses that the delay would cause subjects to underestimate the mass but overestimate the damping and that the extents of the under- A nd overestimation would differ between individual subjects due to the difference in the interaction frequency were confirmed.

KW - Delays

KW - Force

KW - Force feedback

KW - Haptic perception

KW - haptics

KW - Manipulators

KW - mechanical properties

KW - Springs

KW - Task analysis

KW - teleoperation

KW - time delay

UR - http://www.scopus.com/inward/record.url?scp=85059036991&partnerID=8YFLogxK

U2 - 10.1109/THMS.2018.2885401

DO - 10.1109/THMS.2018.2885401

M3 - Article

VL - 49

SP - 171

EP - 182

JO - IEEE Transactions on Human-Machine Systems

T2 - IEEE Transactions on Human-Machine Systems

JF - IEEE Transactions on Human-Machine Systems

SN - 2168-2291

IS - 2

M1 - 8585042

ER -

ID: 49569684