Dependence of the Perceptual Discrimination of High-Frequency Vibrations on the Envelope and Intensity of Waveforms

Cao, Nan; Konyo, Masashi; Nagano, Hikaru; Tadokoro, Satoshı

doi:10.1109/access.2019.2898029

Cited by 9 publications

(2 citation statements)

References 27 publications

(42 reference statements)

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“…Second, humans can also detect the envelope vibration of AM vibrations [17,18]. Third, FA II type receptor, which is known as the receptor to perceive highfrequency vibrations, does not the waveform itself but detect the energy of vibrations [19,20]. Thus, the envelope shape of the AM vibrations can reflect the energy changes if the carrier frequency is constant.…”

Section: Modulation Methodology Of High-frequency Vibration 21 Proposalmentioning

confidence: 99%

Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots

et al. 2020

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This study proposes a methodology to deliver contact information on construction robots to the remote operator by transmitting measured collision vibrations, which are often beyond the human perceivable range. We focus on the human capacity to discriminate the envelope of high-frequency vibrations as an essential cue to perceive contact materials and collision conditions. The proposed method preserves the envelope shapes with amplitudemodulated waves with a single carrier frequency in the human sensitive range. In the preliminary experiments, a miniature shovel digging experiment confirmed that the proposed method improves the discriminability of the contact materials and sliding velocities. A psychophysical experiment also showed that the participants could discriminate the envelope differences irrespective of the carrier frequency. The proposed method was applied to the tactile transmission system for a construction robot developed in the ImPACT program. A vibration sensor was attached on the robot arm, and the vibrotactile feedback was applied to the operator's wrist. Performance evaluations under a delicate teleoperated task (insertion of a bar into bricks) showed that the peak force was reduced by the proposed method significantly for two out of the three participants. The results show that our proposal could improve the maneuverability of teleoperation.

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Section: Modulation Methodology Of High-frequency Vibration 21 Proposalmentioning

confidence: 99%

Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots

et al. 2020

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“…Cao et al investigated whether one can perceive differences in the time constant of decaying sine waves under various frequency conditions [50]. They also evaluated the discrimination ability of vibration intensity and envelope frequency using sinusoidal and amplitude-modulated vibration with high-frequency components [51].…”

Section: Introductionmentioning

confidence: 99%

Sufficient Time-Frequency Resolution for Reproducing Vibrotactile Sensation

Toide,

Fujiwara,

Makino

et al. 2023

IEEE Trans. Haptics

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In vibrotactile stimuli, it is essential to reproduce realistic tactile sensations to enhance the immersiveness of applications. To reproduce more realistic tactile experiences, various tools have been proposed to fine-tune and design vibrotactile sensations. Considering the situation where users adjust parameters manually, providing tactile sensations with fewer parameters is desirable. This study examines the coarsest resolution in the time and frequency dimensions necessary to present tactile sensations as realistic as vibrations recorded by the sensor. Time and frequency are fundamental parameters to express vibrations as a spectrogram, and we considered it important to investigate how much coarser the resolution could be without changing perception. We focus on the textural vibrations and the preliminary experiment compared actual texture vibrations with the reconstructed vibration as coarse as possible in the frequency dimension. The result showed that the frequency resolution above 172 Hz makes it difficult to distinguish between the vibrations. The main experiment, a similar discrimination experiment, verified the time resolution using the averaging filter of vibration intensity over time. The results indicate that with the update interval set to 30 ms, the discrimination rate compared to the original vibration is approximately 60%. This percentage is below the chance level of 75%, indicating that distinguishing between the two is difficult. Based on our experiments, it is necessary to have a frequency resolution of at least 172 Hz and a time resolution that updates intensity at a rate of 30 fps or higher to recreate tactile sensations comparable to actual vibrations.

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Improvement of Discrimination of Haptic Motion Experience by Reproducing Multi-point Spatial Distribution of Propagated Vibrations at the Wrist

Yamaguchi,

Waga,

Konyo

et al. 2023

Lecture Notes in Computer Science

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Dependence of the Perceptual Discrimination of High-Frequency Vibrations on the Envelope and Intensity of Waveforms

Cited by 9 publications

References 27 publications

Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots

Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots

Sufficient Time-Frequency Resolution for Reproducing Vibrotactile Sensation

Improvement of Discrimination of Haptic Motion Experience by Reproducing Multi-point Spatial Distribution of Propagated Vibrations at the Wrist

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