Fingerpad Skin Stretch Increases the Perception of Virtual Friction

Abstract

This research focuses on the relative importance of fingerpad skin stretch on the perception of friction. It is hypothesized that the perceived magnitude of friction rendered by traditional force feedback can be increased through the addition of fingertip skin stretch. Perceptual data are presented from two separate tests performed on nine male subjects. The first experiment determines the perceptual thresholds for friction based on a modified Karnopp friction model where friction is rendered as purely a kinesthetic resistance via a PHANToM force feedback device. JNDs of 0.056-50.150 corresponding to static coefficients for friction of mu = 0.2-0.8 were established. The second experiment evaluates possible changes in the perceived friction magnitude due to imposing small amounts of tangential skin stretch (0.25-0.75 mm) to the fingerpad in combination with force feedback (kinesthetic resistance). Our results show that even these small amounts of skin stretch lead to a statistically significant increase in perceived friction (p < 0.01). This significant finding will enable the hapticians to more realistically and accurately render friction via a combination of kinesthetic resistance and tactile feedback.

Analysis and Modeling Based on Cepstrum for Haptic Presentation Considering Frequency Features of Vibration in Rubbing Motion

“…Of course, many physical models that are more complex than a basic formula such as (1) for friction force have proposed. There are some methods such as stick-slip model (20) , complex spring-damper model (21) , and so on (22) (23) . Although they are accurate models, it is difficult to handle due to their nonlinearity and need to identify a number of parameters.…”

“…In addition, it is self-reference information affected a lot by individual's subjective. Recently, many approaches to * Department of System Design Engineering, Keio University 3-14-1, Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan evaluate haptic information have been proposed (5)- (8) . Nevertheless, due to the characters of this bidirectionality and self-reference, there is no unified method to handle haptic information clearly.…”

Force-detecting gripper and force feedback system for neurosurgery applications

“…Vibration is added for increasing the perception of friction. Konyo et al proposed a haptic display system for friction by utilizing stick-slip contact phenomena that activated FA II type receptors [25][26][27]. Although the vibration affects the motion of the operators, it is very effective for the friction sensation.…”

Friction perception resulting from laterally vibrotactile stimuli

“…On the other hand, in terms of the techniques used to present tactile friction, researchers have mainly used a quasi-static skin stretch on a fingertip [7][8][9][10] and electrostatic forces [11,12]. Furthermore, texture displays using the squeeze effects caused by ultrasonic vibrations [13,14] and surface acoustic waves [15] can reduce the perception of friction.…”