Haptic Force Perception in Bimanual Manipulation

  • Jalal Awed
  • Imad H. Elhajj
  • Nadiya Slobodenyuk
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7283)


Haptic systems are used increasingly in various applications. The effectiveness of such systems depends greatly on the human perceptual characteristics, and the nature of the application being implemented (precision needed, speed and movement type involved, etc.). This study assesses the variations in perceptual limitations of the dominant and non-dominant hand, when engaged in a synchronous movement. Results showed that both hands are less sensitive to force variation when operating together. Statistical analysis showed a high confidence in the significance of the results obtained for the non-dominant hand versus the low confidence for the dominant hand.


Dominant Hand Force Direction Haptic Device Force Magnitude Just Noticeable Difference 
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.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    El Saddik, A.: The Potential of Haptics Technologies. IEEE Instrumentation & Measurement Magazine 10(1), 10–17 (2007)CrossRefGoogle Scholar
  2. 2.
    Steinbach, E., Hirche, S., Kammerl, J., Vittorias, I., Chaudhari, R.: Haptic Data Compression and Communication. IEEE Signal Processing Magazine 28(1), 87–96 (2011)CrossRefGoogle Scholar
  3. 3.
    Weber, E.H.: De pulsu, resorptione, audita et tactu. Annotationes anatomicae et hysiologicae, Leipzig, Koehler (1834) (trans. Ross, H.E. Academic Press, New York, 1978)Google Scholar
  4. 4.
    Allin, S., Matsuoka, Y., Klatzky, R.: Measuring just noticeable difference for haptic force feedback: Implications for rehabilitation. In: Proc. of IEEE Haptics Symposium, Orlando, FL, USA, pp. 299–302 (2002)Google Scholar
  5. 5.
    Tan, H.Z., Srinivasan, M.A., Eberman, M.A., Cheng, B.: Human Factors for the design of force-reflecting haptic interfaces. In: ASME/IMECE, vol. DSC 55-1, pp. 353–359 (1994)Google Scholar
  6. 6.
    Elhajj, I.H., Weerasinghe, H., Dika, A., Hansen, R.: Human perception of haptic force direction. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 989–993 (2006)Google Scholar
  7. 7.
    Pongrac, H., Hinterseer, P., Kammerl, J., Steinbach, E., Färber, B.: Limitations of Human 3D-force discrimination. In: Proc. 2nd Int. Workshop on Human-Centred Robotic Systems, Technische Universität München, Germany, pp. 109–114 (2006)Google Scholar
  8. 8.
    Yang, X.-D., Bischof, W.F., Boulanger, P.: Perception of haptic force magnitude during hand movements. In: IEEE International Conference on Robotics and Automation (2008)Google Scholar
  9. 9.
    Yang, X.-D., Bischof, W.F., Boulanger, P.: The Effects of Hand Motion on Haptic Perception of Force Direction. In: Ferre, M. (ed.) EuroHaptics 2008. LNCS, vol. 5024, pp. 355–360. Springer, Heidelberg (2008)CrossRefGoogle Scholar
  10. 10.
    Giachritsis, C., Barrio, J., Ferre, M., Wing, A., Ortego, J.: Evaluation of Weight Perception During Unimanual and Bimanual Manipulation of Virtual Objects. In: Proc. of World Haptics, Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Salt Lake City, UT, USA, March 18-20, pp. 629–634 (2009)Google Scholar
  11. 11.
    Levitt, H.: Transformed up-down methods in psychoacoustics. Acoustical Society of America 49, 467–476 (1971)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Jalal Awed
    • 1
  • Imad H. Elhajj
    • 1
  • Nadiya Slobodenyuk
    • 2
  1. 1.Electrical and Computer EngineeringAmerican University of BeirutBeirutLebanon
  2. 2.Department of PsychologyAmerican University of BeirutBeirutLebanon

Personalised recommendations