Perceptual Evaluation of the Passive/Active Torque and Stiffness Asymmetry of a Hybrid Haptic Device

  • Carlos Rossa
  • Margarita Anastassova
  • Alain Micaelli
  • José Lozada
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8618)


Hybrid haptic interfaces combining brakes and motors can present dissimilar torque and stiffness capabilities when dissipating or restoring energy. This paper aims at identifying the asymmetry thresholds that lead to an alteration in the perception of elasticity simulated by such devices. 17 subjects took part in an experiment consisting in interacting with virtual springs with either controllable stiffness or torque asymmetry levels, and identifying if the springs were symmetric or not. Experimental results indicate that when the decompression stiffness or torque were less than 80 % and 60 % of the compression stiffness or torque respectively, users did not perceive the asymmetry in 80 % of trials. This suggests that hybrid devices can present dissimilar active/passive torque or stiffness capabilities without affecting the perception of elasticity.


Hybrid actuators Stiffness discrimination Haptic interfaces Perception thresholds Active/passive actuators 


  1. 1.
    Rosenberg, L., Adelstein, B.: Perceptual decomposition of virtual haptic surfaces. In: Proceedings of the IEEE 1993 Symposium on Research Frontiers in Virtual Reality, 1993, pp. 46–53 (1993)Google Scholar
  2. 2.
    Pang, X., Tan, H., Durlach, N.: Manual discrimination of force using active finger motion. Percept. Psychophysics 49(6), 531–540 (1991)CrossRefGoogle Scholar
  3. 3.
    Woodruff, B., Helson, H.: Torque sensitivity as a function of knob radius and load. Am. J. Psychol. 80(4), 558–571 (1967)CrossRefGoogle Scholar
  4. 4.
    Cholewiak, S., Tan, H., Ebert, D.: Haptic identification of stiffness and force magnitude. In: Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Haptics 2008, pp. 87–91 (2008)Google Scholar
  5. 5.
    Forrest, N., Baillie, S., Tan, H.: Haptic stiffness identification by veterinarians and novices: a comparison. In: Third Joint EuroHaptics Conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009, pp. 646–651 (2009)Google Scholar
  6. 6.
    Rossa, C., Lozada, J., Micaelli, A.: A new hybrid actuator approach for force-feedback devices. In: Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, pp. 4054–4059 (2012)Google Scholar
  7. 7.
    Rossa, C., Lozada, J., Micaelli, A.: Stable haptic interaction using passive and active actuators. In: 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 1050–4729 (2013)Google Scholar
  8. 8.
    Rossa, C., Jaegy, A., Micaelli, A., Lozada, J.: Development of a multilayered wide-ranged torque magnetorheological brake. Smart Mater. Struct. 23(2), 025028 (2014)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Carlos Rossa
    • 1
    • 2
  • Margarita Anastassova
    • 1
  • Alain Micaelli
    • 1
  • José Lozada
    • 1
  1. 1.CEA, LISTSensorial and Ambient Interfaces LaboratoryGif-sur-YvetteFrance
  2. 2.Department of Electrical and Computer EngineeringUniversity of AlbertaEdmontonCanada

Personalised recommendations