Overshoot Effect in Stiffness Perception Tasks during Hand Motion with Haptic Device
This study is concerned with the overshoot effect in a task of surface differentiation when both surface stiffness and impact velocity are varied. Psychophysical experiments are conducted using virtual surfaces rendered with a force-feedback device with velocity as visual constraint. We test the force constancy hypothesis formulated by Walker and Tan  which states that users maintain constant penetration force while exploring haptic virtual surfaces. Data collected during stroking surfaces of varying stiffness partially support this hypothesis and allow to consider the relevance of the impact velocity factor. Our results clearly show that changes in impact velocity affects surface penetration. Our findings underscore the importance of better understanding the interplay of the human perceptual parameters in a haptic framework. Future work will focus on the development of compensation rules for ensuring perceptual accuracy of anatomic haptic virtual environments. This will ensure accurate simulation of the haptic interaction between surgical tools and body organs.
KeywordsHaptics stiffness perception human perceptual parameter
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