Design and Evaluation of Haptic Soft Tissue Interaction

Harders M, Leskovsky P, Cooke T, Ernst MO, Szekely G (2008)
In: The Sense of Touch and its Rendering: Progresses in Haptics Research. Siciliano B (Ed); Springer Tracts in Advanced Robotics, . Berlin, Germany: Springer: 225-244.

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Siciliano , B
Abstract
This chapter examines the application of a psychophysical evaluation technique to quantify the fidelity of haptic rendering methods. The technique is based on multidimensional scaling analysis of similarity ratings provided by users comparing pairs of haptically-presented objects. Unbeknownst to the participants, both real and virtual deformable objects were presented. In addition, virtual objects were either rendered under high fidelity condition or under lower-fidelity condition in which filtering quality was reduced. The analysis of pairwise similarity data provides quantitative confirmation that users perceived a clear difference between real and virtual objects in the lower-fidelity, but not in the higher-fidelity condition. In the latter, a single perceptual dimension, corresponding to stiffness, sufficed to explain similarity data, while two perceptual dimensions were needed in the former condition. This demonstrates how multidimensional scaling analysis can be used in the evaluation of haptic renderin g scenarios, providing perceptual maps of real and virtual objects. It offers an opportunity to visualize and quantify the perceptual effects of changes in rendering parameters.
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Harders M, Leskovsky P, Cooke T, Ernst MO, Szekely G. Design and Evaluation of Haptic Soft Tissue Interaction. In: Siciliano B, ed. The Sense of Touch and its Rendering: Progresses in Haptics Research. Springer Tracts in Advanced Robotics. Berlin, Germany: Springer; 2008: 225-244.
Harders, M., Leskovsky, P., Cooke, T., Ernst, M. O., & Szekely, G. (2008). Design and Evaluation of Haptic Soft Tissue Interaction. In B. Siciliano (Ed.), Springer Tracts in Advanced Robotics. The Sense of Touch and its Rendering: Progresses in Haptics Research (pp. 225-244). Berlin, Germany: Springer.
Harders, M., Leskovsky, P., Cooke, T., Ernst, M. O., and Szekely, G. (2008). “Design and Evaluation of Haptic Soft Tissue Interaction” in The Sense of Touch and its Rendering: Progresses in Haptics Research, ed. B. Siciliano Springer Tracts in Advanced Robotics (Berlin, Germany: Springer), 225-244.
Harders, M., et al., 2008. Design and Evaluation of Haptic Soft Tissue Interaction. In B. Siciliano, ed. The Sense of Touch and its Rendering: Progresses in Haptics Research. Springer Tracts in Advanced Robotics. Berlin, Germany: Springer, pp. 225-244.
M. Harders, et al., “Design and Evaluation of Haptic Soft Tissue Interaction”, The Sense of Touch and its Rendering: Progresses in Haptics Research, B. Siciliano, ed., Springer Tracts in Advanced Robotics, Berlin, Germany: Springer, 2008, pp.225-244.
Harders, M., Leskovsky, P., Cooke, T., Ernst, M.O., Szekely, G.: Design and Evaluation of Haptic Soft Tissue Interaction. In: Siciliano , B. (ed.) The Sense of Touch and its Rendering: Progresses in Haptics Research. Springer Tracts in Advanced Robotics. p. 225-244. Springer, Berlin, Germany (2008).
Harders, M, Leskovsky, P, Cooke, T, Ernst, Marc O., and Szekely, G. “Design and Evaluation of Haptic Soft Tissue Interaction”. The Sense of Touch and its Rendering: Progresses in Haptics Research. Ed. B Siciliano. Berlin, Germany: Springer, 2008. Springer Tracts in Advanced Robotics. 225-244.
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