Extended Rate-Hardness: A Measure for Perceived Hardness

  • Gabjong Han
  • Seungmoon Choi
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6191)


This paper presents a measure for assessing the perceived hardness of a haptic surface based on associated physical variables. This metric, named extended rate-hardness (ERH), is extended from rate-hardness originally proposed by Lawrence et al. in order to cover a larger class of rendering algorithms and applications. We also performed a psychophysical evaluation using absolute magnitude estimation to quantify the extent to which the ERH can account for perceived hardness. The findings have implications to developing haptic interfaces and rendering algorithms with improved perceptual hardness.


Hardness perception stiffness perception rate-hardness extended rate-hardness 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Gabjong Han
    • 1
  • Seungmoon Choi
    • 1
  1. 1.Haptics and Virtual Reality Laboratory, Department of Computer Science and EngineeringPohang University of Science and Technology (POSTECH)South Korea

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