What was the result of the fitting procedure?

For the analysis in terms of the Young’s Modulus, for three of the 72 psychometric curves, the fitting procedure failed to yield a good fit, resulting in highly unlikely threshold values.

Why is the force/ displacement ratio more important for hard stimuli?

The directions of these lines seem to indicate that for harder stimuli, where the lines are oriented more toward the vertical, it is more important to keep the surface deformation the same, while for the softer stimuli, where the lines are oriented more horizontally, subjects prefer to keep the force/ displacement ratio the same.

How many mm of surface area were used to determine the slope of the stimuli?

The measured slopes were divided by the surface area ð13:2 cm2Þ and multiplied by the stimulus thickness (20 or 40 mm, respectively).

What is the slope of the straight line fitted to the thresholds in terms of Young’s?

The slope of the straight line fitted to thethresholds in terms of Young’s modulus for all stimulus configurations together, is 0:15 0:05 ðR2 ¼ 0:69Þ.

Why is the Young’s modulus more dependent on cutaneous cues?

This may be due to the fact that the perception of the Young’s modulus, as a bulk material parameter, may be more dependent on cutaneous cues, while the force/displacement ratio may be more dependent on kinesthetic cues.

What does the paper suggest that the perception of compliance can be perceived directly without the need for (?

This implies that compliance can be perceived directly, without the need for (subconscious) calculation of the ratio of force increase and finger displacement.

What is the importance of surface deformation information in haptic displays?

It also stresses the importance of including surface deformation information in haptic displays, which, up to now, are generally only able to display force information.

Open AccessJournal Article10.1109/TOH.2009.16

Cues for Haptic Perception of Compliance

W.M. Bergmann Tiest, +1 more

- 01 Oct 2009

- IEEE Transactions on Haptics

- Vol. 2, Iss: 4, pp 189-199

234

TL;DR: The relative roles of force/displacement and surface deformation cues are investigated and measured discrimination thresholds with silicone rubber stimuli of differing thickness and compliance found that differences in object thickness are correctly taken into account.

Abstract: For the perception of the hardness of compliant materials, several cues are available. In this paper, the relative roles of force/displacement and surface deformation cues are investigated. We have measured discrimination thresholds with silicone rubber stimuli of differing thickness and compliance. Also, the influence of the finger span is assessed. When compliance is expressed as the Young's modulus, the thresholds in the different conditions follow Weber's law with a Weber fraction of 15 percent. When the surface deformation cue was removed, thresholds more than trebled. Under the assumption of optimal cue combination, this suggests that a large fraction of the information comes from the surface deformation cue. Using a matching experiment, we found that differences in object thickness are correctly taken into account. When cues appear to contradict each other, the conflict is resolved by means of a compromise.

AI Agents for this Paper

Find similar papers on Google Scholar, PubMed and Arxiv
Write a critical review of this paper
Analyze citations of this paper to find unaddressed research gaps

Most frequently asked questions

1. What are the contributions mentioned in the paper "Cues for haptic perception of compliance" ?

In this paper, the relative roles of force/displacement and surface deformation cues are investigated.. When compliance is expressed as the Young ’ s modulus, the thresholds in the different conditions follow Weber ’ s law with a Weber fraction of 15 percent.. Under the assumption of optimal cue combination, this suggests that a large fraction of the information comes from the surface deformation cue.

2. Why do the authors use the Weber fractions to estimate the threshold at any stimulus intensity?

Because of the linear behavior that is observed in the data, the authors can use the Weber fractions to estimate the threshold at any stimulus intensity.

3. What was the range of force used for the small contact area probes?

For the small contact area probes, the range of 1-20 N was used because this is typically the range of force used when squeezing.

4. Why was the subject kept covered until the subject donned the blindfold?

Because it was important that subjects did not know that the “sandwich” stimuli had a rigid part in the middle, all stimuli were kept covered until the subject had donned the blindfold.

Fig. 6. Discrimination thresholds for the “thick” stimuli with and without the steel discs on the stimulus surfaces as a function of reference stiffness. The error bars indicate the standard error of the mean.

Fig. 9. Relationship between the slope of the force/displacement profile and the Young’s modulus for two types of stimuli (dashed and dotted curves) based on fits to the measured data. The arrows indicate the matches made between these stimulus types. The gray lines illustrate possible curves of equal perceived hardness, based on the measurements.

Fig. 3. Averages of the fitted slopes of the force versus displacement profiles as a function of the mass fraction of the hard rubber component for the different stimulus types, as measured with the (a) 100 mm2 probes and the (b) flat surfaces. For each of the stimulus types, the three hardness subsets can be distinguished by the grouping of the points. The error bars indicate the standard deviation of the five measurements.

Fig. 2. Examples of force versus displacement profiles for the three stimulus types. The steep curves on the left going up to 50 N are for the flat surfaces, while the other curves are for the 100 mm2 cylindrical probes.

Fig. 4. Example of a psychometric curve with fitted function for the medium compliance range and thick stimulus configuration, with the stimulus compliance expressed as the stiffness as measured with the small probes. The solid vertical line indicates the stiffness of the reference stimulus. The dashed line indicates the position of the 84 percent level.

Fig. 8. Plots of the compliance of matched stimuli for the different configurations. The arrows connect the compliance of a reference stimulus to the matching compliance of a stimulus of a different type, averaged over subjects. The error bars indicate the standard error of the mean. Matches between compliances that are not significantly different (t-test, p 0:05) are indicated by dotted lines. (a) Compliance expressed as Young’s modulus; (b) compliance expressed as the slope of the force/displacement profile as measured with the small probes.

Citations

•Journal Article•10.1016/J.PLREV.2016.02.001

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

Marco Santello, +14 more

- 03 Feb 2016

- Physics of Life Reviews

TL;DR: An overview of neuroscientific bases of hand synergies is provided and how robotics has leveraged the insights from neuroscience for innovative design in hardware and controllers for biomedical engineering applications, including myoelectric hand prostheses, devices for haptics research, and wearable sensing of human hand kinematics are introduced.

...read moreread less

259

•Journal Article•10.1109/TOH.2012.74

Application of Psychophysical Techniques to Haptic Research

Lynette A. Jones, +1 more

- 01 Jul 2013

- IEEE Transactions on Haptics

TL;DR: In this review, classical psychophysical techniques used to measure sensory thresholds are described as well as more modern methods such as adaptive procedures and those associated with signal detection theory.

...read moreread less

250

•Journal Article•10.1016/J.VISRES.2010.10.005

Tactual perception of material properties

Wouter M. Bergmann Tiest

- 01 Dec 2010

- Vision Research

TL;DR: This paper reviews tactual perception of material properties such as roughness, compliance, coldness and friction, and takes a look into how sensation of these material properties can be induced artificially in haptic displays.

...read moreread less

241

Journal Article•10.1109/TIE.2019.2920602

Multimodal Haptic Display for Virtual Reality: A Survey

Dangxiao Wang, +2 more

- 01 Jan 2020

- IEEE Transactions on Industrial Electron...

TL;DR: The latest progress on multimodal haptic devices is surveyed, the gaps are identified, and future research directions on the topic are put forward.

...read moreread less

149

•Proceedings Article•10.1109/ICRA.2017.7989116

Shape-independent Hardness Estimation Using Deep Learning and a GelSight Tactile Sensor

Wenzhen Yuan, +4 more

- 13 Apr 2017

- arXiv: Robotics

TL;DR: In this article, the authors proposed a method for hardness estimation based on the GelSight tactile sensor, which does not require accurate control of contact conditions or the shape of objects.

...read moreread less

147

...

Expand

References

Journal Article•10.1080/17470216408416370

Subjective Hardness of Compliant Materials

Roland Harper, +1 more

- 01 Sep 1964

- Quarterly Journal of Experimental Psycho...

TL;DR: In this article, the apparent hardness and softness of compliant materials were scaled by direct magnitude estimation and by cross-modal matches to the apparent force exerted on a hand dynamometer and a finger dynamometer, and to the loudness of a band of white noise.

...read moreread less

•Book

The Left-Hander Syndrome: The Causes and Consequences of Left-Handedness

Stanley Coren

- 01 Jan 1992

TL;DR: In this article, the authors examined the phenomenon of left-handedness in a world designed for right-handed people and suggested ways in which things can be made more comfortable and safer for them.

...read moreread less

Journal Article•10.1152/JN.2000.83.4.1777

Softness discrimination with a tool.

Robert H. LaMotte

- 01 Apr 2000

- Journal of Neurophysiology

TL;DR: It is concluded that during active movements, kinesthetic information and knowledge of central efferent commands provide useful cues that are not present during passive touch that allow the observer to discriminate differences in object compliance not confounded by differences in applied velocity.

...read moreread less

•Journal Article•10.3758/BF03208071

Manual discrimination and identification of length by the finger-span method.

Nathaniel I. Durlach, +5 more

- 01 Jan 1989

- Attention Perception & Psychophysics

TL;DR: In this article, the length resolution for objects held between the thumb and forefinger was measured in both identification and discrimination experiments, and it was shown that the resolution of objects held in the same position is worse in identification experiments than in discrimination experiments.

...read moreread less

•Book Chapter•10.1007/978-3-540-69057-3_30

Kinaesthetic and Cutaneous Contributions to the Perception of Compressibility

Wouter M. Bergmann Tiest, +1 more

- 10 Jun 2008

TL;DR: In this article, both cutaneous and kinaesthetic information are used for the perception of compressibility and hardness of objects, respectively, and the relative role of these contributions is investigated.

...read moreread less

...

Expand

Cues for Haptic Perception of Compliance

Chat with Paper

AI Agents for this Paper

Most frequently asked questions

1. What are the contributions mentioned in the paper "Cues for haptic perception of compliance" ?

2. Why do the authors use the Weber fractions to estimate the threshold at any stimulus intensity?

3. What was the range of force used for the small contact area probes?

4. Why was the subject kept covered until the subject donned the blindfold?

5. What was the result of the fitting procedure?

6. Why is the force/ displacement ratio more important for hard stimuli?

7. How many mm of surface area were used to determine the slope of the stimuli?

8. What is the slope of the straight line fitted to the thresholds in terms of Young’s?

9. Why is the Young’s modulus more dependent on cutaneous cues?

10. What does the paper suggest that the perception of compliance can be perceived directly without the need for (?

11. What is the importance of surface deformation information in haptic displays?

Figures

Citations

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

Application of Psychophysical Techniques to Haptic Research

Tactual perception of material properties

Multimodal Haptic Display for Virtual Reality: A Survey

Shape-independent Hardness Estimation Using Deep Learning and a GelSight Tactile Sensor

References

Subjective Hardness of Compliant Materials

The Left-Hander Syndrome: The Causes and Consequences of Left-Handedness

Softness discrimination with a tool.

Manual discrimination and identification of length by the finger-span method.

Kinaesthetic and Cutaneous Contributions to the Perception of Compressibility

Related Papers (5)

Tactual discrimination of softness

Hand movements: a window into haptic object recognition.

Humans integrate visual and haptic information in a statistically optimal fashion.

Tactual perception of material properties

A perceptual analysis of stiffness.