Psychophysical Evaluation of a Low Density and Portable Tactile Device Displaying Small-Scale Surface Features

This work evaluates the haptic rendering capabilities of a low density and portable tactile device displaying small-scale surface features, such as ridge patterns and sinusoidal gratings. Psychophysical experiments were conducted to investigate and compare JND's for distance, angle and wavelength perception of virtual and real surface features. Velocity was monitored during the active exploration of ridges and controlled during the passive-guided exploration of gratings. JND's found for the virtual surfaces are 22%, 12.6% and 13.3% of the standard stimuli (4.2mm, 45° and 5.09mm). JND's for real surfaces indicate that subjects' discrimination ability using the tactile device decreases roughly 65%. Results provide insight of the sensory resolution associated with the tactile device which can guide the development of an improved device, suitable applications and effective tactile rendering methods.

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