A psychophysical evaluation of haptic controllers: Viscosity perception of soft environments

Hyoung Il Son, Hoeryong Jung, Doo Yong Lee, Jang Ho Cho, Heinrich Bulthoff

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

SUMMARY In this paper, human viscosity perception in haptic teleoperation systems is thoroughly analyzed. An accurate perception of viscoelastic environmental properties such as viscosity is a critical ability in several contexts, such as telesurgery, telerehabilitation, telemedicine, and soft-tissue interaction. We study and compare the ability to perceive viscosity from the standpoint of detection and discrimination using several relevant control methods for the teleoperator. The perception-based method, which was proposed by the authors to enhance the operator's kinesthetic perception, is compared with the conventional transparency-based control method for the teleoperation system. The fidelity-based method, which is a primary method among perception-centered control schemes in teleoperation, is also studied. We also examine the necessity and impact of the remote-site force information for each of the methods. The comparison is based on a series of psychophysical experiments measuring absolute threshold and just noticeable difference for all conditions. The results clearly show that the perception-based method enhances both detection and discrimination abilities compare with other control methods. The results further show that the fidelity-based method confers a better discrimination ability than the transparency-based method, although this is not true with respect to detection ability. In addition, we show that force information improves viscosity detection for all control methods, as predicted from previous theoretical analysis, but improves the discrimination threshold only for the perception-based method.

Original languageEnglish
Pages (from-to)1-17
Number of pages17
JournalRobotica
Volume32
Issue number1
DOIs
Publication statusPublished - 2014 Jan 1

Fingerprint

Haptics
Viscosity
Controller
Remote control
Controllers
Evaluation
Transparency
Teleoperation
Discrimination
Telemedicine
Fidelity
Perception
Tissue
Soft Tissue
Experiments
Theoretical Analysis

Keywords

  • Haptic controller
  • Psychophysical evaluation
  • Telemedicine
  • Teleoperation
  • Viscosity perception

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Software
  • Mathematics(all)

Cite this

A psychophysical evaluation of haptic controllers : Viscosity perception of soft environments. / Son, Hyoung Il; Jung, Hoeryong; Lee, Doo Yong; Cho, Jang Ho; Bulthoff, Heinrich.

In: Robotica, Vol. 32, No. 1, 01.01.2014, p. 1-17.

Research output: Contribution to journalArticle

Son, Hyoung Il ; Jung, Hoeryong ; Lee, Doo Yong ; Cho, Jang Ho ; Bulthoff, Heinrich. / A psychophysical evaluation of haptic controllers : Viscosity perception of soft environments. In: Robotica. 2014 ; Vol. 32, No. 1. pp. 1-17.
@article{42aea30982fa4b1a91ceafd8458bd06d,
title = "A psychophysical evaluation of haptic controllers: Viscosity perception of soft environments",
abstract = "SUMMARY In this paper, human viscosity perception in haptic teleoperation systems is thoroughly analyzed. An accurate perception of viscoelastic environmental properties such as viscosity is a critical ability in several contexts, such as telesurgery, telerehabilitation, telemedicine, and soft-tissue interaction. We study and compare the ability to perceive viscosity from the standpoint of detection and discrimination using several relevant control methods for the teleoperator. The perception-based method, which was proposed by the authors to enhance the operator's kinesthetic perception, is compared with the conventional transparency-based control method for the teleoperation system. The fidelity-based method, which is a primary method among perception-centered control schemes in teleoperation, is also studied. We also examine the necessity and impact of the remote-site force information for each of the methods. The comparison is based on a series of psychophysical experiments measuring absolute threshold and just noticeable difference for all conditions. The results clearly show that the perception-based method enhances both detection and discrimination abilities compare with other control methods. The results further show that the fidelity-based method confers a better discrimination ability than the transparency-based method, although this is not true with respect to detection ability. In addition, we show that force information improves viscosity detection for all control methods, as predicted from previous theoretical analysis, but improves the discrimination threshold only for the perception-based method.",
keywords = "Haptic controller, Psychophysical evaluation, Telemedicine, Teleoperation, Viscosity perception",
author = "Son, {Hyoung Il} and Hoeryong Jung and Lee, {Doo Yong} and Cho, {Jang Ho} and Heinrich Bulthoff",
year = "2014",
month = "1",
day = "1",
doi = "10.1017/S0263574713000593",
language = "English",
volume = "32",
pages = "1--17",
journal = "Robotica",
issn = "0263-5747",
publisher = "Cambridge University Press",
number = "1",

}

TY - JOUR

T1 - A psychophysical evaluation of haptic controllers

T2 - Viscosity perception of soft environments

AU - Son, Hyoung Il

AU - Jung, Hoeryong

AU - Lee, Doo Yong

AU - Cho, Jang Ho

AU - Bulthoff, Heinrich

PY - 2014/1/1

Y1 - 2014/1/1

N2 - SUMMARY In this paper, human viscosity perception in haptic teleoperation systems is thoroughly analyzed. An accurate perception of viscoelastic environmental properties such as viscosity is a critical ability in several contexts, such as telesurgery, telerehabilitation, telemedicine, and soft-tissue interaction. We study and compare the ability to perceive viscosity from the standpoint of detection and discrimination using several relevant control methods for the teleoperator. The perception-based method, which was proposed by the authors to enhance the operator's kinesthetic perception, is compared with the conventional transparency-based control method for the teleoperation system. The fidelity-based method, which is a primary method among perception-centered control schemes in teleoperation, is also studied. We also examine the necessity and impact of the remote-site force information for each of the methods. The comparison is based on a series of psychophysical experiments measuring absolute threshold and just noticeable difference for all conditions. The results clearly show that the perception-based method enhances both detection and discrimination abilities compare with other control methods. The results further show that the fidelity-based method confers a better discrimination ability than the transparency-based method, although this is not true with respect to detection ability. In addition, we show that force information improves viscosity detection for all control methods, as predicted from previous theoretical analysis, but improves the discrimination threshold only for the perception-based method.

AB - SUMMARY In this paper, human viscosity perception in haptic teleoperation systems is thoroughly analyzed. An accurate perception of viscoelastic environmental properties such as viscosity is a critical ability in several contexts, such as telesurgery, telerehabilitation, telemedicine, and soft-tissue interaction. We study and compare the ability to perceive viscosity from the standpoint of detection and discrimination using several relevant control methods for the teleoperator. The perception-based method, which was proposed by the authors to enhance the operator's kinesthetic perception, is compared with the conventional transparency-based control method for the teleoperation system. The fidelity-based method, which is a primary method among perception-centered control schemes in teleoperation, is also studied. We also examine the necessity and impact of the remote-site force information for each of the methods. The comparison is based on a series of psychophysical experiments measuring absolute threshold and just noticeable difference for all conditions. The results clearly show that the perception-based method enhances both detection and discrimination abilities compare with other control methods. The results further show that the fidelity-based method confers a better discrimination ability than the transparency-based method, although this is not true with respect to detection ability. In addition, we show that force information improves viscosity detection for all control methods, as predicted from previous theoretical analysis, but improves the discrimination threshold only for the perception-based method.

KW - Haptic controller

KW - Psychophysical evaluation

KW - Telemedicine

KW - Teleoperation

KW - Viscosity perception

UR - http://www.scopus.com/inward/record.url?scp=84890087467&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84890087467&partnerID=8YFLogxK

U2 - 10.1017/S0263574713000593

DO - 10.1017/S0263574713000593

M3 - Article

AN - SCOPUS:84890087467

VL - 32

SP - 1

EP - 17

JO - Robotica

JF - Robotica

SN - 0263-5747

IS - 1

ER -