Perceptualizing a “Haptic Edge” with Varying Stiffness Based on Force Constancy

  • Jaeyoung Cheon
  • Seungmoon Choi
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4282)


This paper introduces a novel haptic rendering technique devised to perceptualize a “haptic edge” correctly with respect to its stiffness and height models. Our previous study showed that the traditional penalty-based haptic rendering methods are not adequate to the collocated data of surface topography and stiffness since surface topography perceived by the user can be distorted from its model. In order to overcome the problem, we have developed a topography compensation algorithm based on the theory of force constancy which states that the user maintains a constant contact force when s/he strokes a surface to feel its topography. To the best of our knowledge, our technique is the first of its kind that explicitly considers the effect of user exploratory patterns in haptic rendering. Computationally, the algorithm is adaptive and efficient, not requiring any preprocessing of original data. We also demonstrate the performance and robustness of the proposed algorithm through a psychophysical experiment.


Psychophysical Experiment Haptic Interface Compensation Algorithm Height Model Haptic Interaction 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Jaeyoung Cheon
    • 1
  • Seungmoon Choi
    • 1
  1. 1.Virtual Reality and Perceptive Media Laboratory, Department of Computer Science and EngineeringPOSTECHPohangRepublic of Korea

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