Quantitative Experimental Analysis of Transparency and Stability in Haptic Interfaces
4
D. A. Lawrence
L. Y. Pao
M. A. Salada
A. M. Dougherty
Proceedings of the 1996 ASME International Mechanical Engineering Congress and Exhibition, DSC-Vol. 58, pp. 441-449.
1996 ASME
http://osl-www.colorado.edu/Research/papers/wam96.pdf
The notion of haptic transparency is used to quantify the fidelity
with which virtual object properties are presented to, and perceived
by, the human operator.  Experimental results are presented
quantifying the ability of humans to detect differences in mechanical
impedances representing typical types of impedance corruption (loss of
transparency) encountered in haptic interfaces due to
stability-enhancing dynamic compensation.  In particular, a poor
connection is found between the stiffness of virtual walls and their
perceptual "hardness", prompting a new definition of hardness which is
often dominated by the high frequency dynamics of the rendered
impedance.