Sound Reduction of Vibration Feedback by Perceptually Similar Modulation

The transmission of high-frequency collision vibration can effectively deliver tactile characteristics in teleoperation of remote robots and the virtual environment. However, high-frequency vibrations also introduces audible noise. To address this issue, we modulated the frequency and amplitude of collision vibration to keep the perceptually similar while reducing the sound of the vibrations. Our experimental results showed that the sound pressure level of the collision vibrations (f = 675 Hz and 1012 Hz) is higher than the perceptual similar collision vibrations (f = 300 Hz and 450 Hz). These results suggest that our modulation method is able to reduce the sound level of the collision vibrations while maintaining the perceptual similarity.

[1]  Pradeep K. Khosla,et al.  Psychophysical Characterization and Testbed Validation of a Wearable Vibrotactile Glove for Telemanipulation , 2003, Presence: Teleoperators & Virtual Environments.

[2]  Joseph M. Romano,et al.  High frequency acceleration feedback significantly increases the realism of haptically rendered textured surfaces , 2010, 2010 IEEE Haptics Symposium.

[3]  M. Hollins,et al.  The vibrations of texture , 2003, Somatosensory & motor research.

[4]  M. Hollins,et al.  Vibrotactile intensity and frequency information in the Pacinian system: A psychophysical model , 2005, Perception & psychophysics.

[5]  C J Vierck,et al.  A critical band filter in touch , 1995, The Journal of neuroscience : the official journal of the Society for Neuroscience.

[6]  H. Pongrac,et al.  Vibrotactile Perception: Differential Effects of Frequency, Amplitude, and Acceleration , 2006, 2006 IEEE International Workshop on Haptic Audio Visual Environments and their Applications (HAVE 2006).

[7]  Yoji Yamada,et al.  Vibration-based rendering of virtual hardness: Frequency characteristics of perception , 2017, 2017 IEEE 6th Global Conference on Consumer Electronics (GCCE).

[8]  Katherine J. Kuchenbecker,et al.  Improving contact realism through event-based haptic feedback , 2006, IEEE Transactions on Visualization and Computer Graphics.

[9]  Yôiti Suzuki,et al.  Equal-loudness-level contours for pure tones. , 2004, The Journal of the Acoustical Society of America.

[10]  Allison M. Okamura,et al.  Reality-based models for vibration feedback in virtual environments , 2001 .

[11]  S J Bensmaïa,et al.  Complex tactile waveform discrimination. , 2000, The Journal of the Acoustical Society of America.

[12]  A. Fraioli,et al.  Sensation magnitude of vibrotactile stimuli , 1969 .

[13]  Yoji Yamada,et al.  What is the Hardness Perceived by Tapping? , 2016, EuroHaptics.

[14]  Joseph M. Romano,et al.  Creating Realistic Virtual Textures from Contact Acceleration Data , 2012, IEEE Transactions on Haptics.