Summary
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 rendering 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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Bloomfield, A., Deng, Y., Wampler, J., Rondot, P., Harth, D., McManus, M., Badler, N.: A taxonomy and comparison of haptic actions for disassembly tasks. In: IEEE Virtual Reality Conference 2003 (VR 2003), pp. 225–231 (2003)
Borg, I., Groenen, P.: Modern Multidimensional Scaling: Theory and Applications, 2nd edn. Springer, Heidelberg (2005)
Bourguignon, D., Cani, M.-P.: Controlling anisotropy in mass-spring systems. In: Proceedings of the 11th Eurographics Workshop, pp. 113–123 (2000)
Campion, G., Hayward, V.: Fundamental limits in the rendering of virtual haptic textures. In: First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems (WHC 2005), pp. 263–270 (2005)
Cavusoglu, M.C., Feygin, D.: Tendick A critical study of the mechanical and electrical properties of the PHANToM haptic interface and improvements for high performance control. Presence: Teleoperators & Virtual Environments 11(6), 555–568 (2002)
Cox, T.F., Cox, M.A.: Multidimensional Scaling, 2nd edn. Chapman and Hall, Boca Raton (2001)
Delingette, H.: Towards realistic soft tissue modeling in medical simulation. In: Proceedings of the IEEE: Special Issue on Surgery Simulation, pp. 512–523 (1998)
Deussen, O., Kobbelt, L., Tücke, P.: Using simulated annealing to obtain good nodal approximations of deformable bodies. In: Sixth Eurographics Workshop on Simulation and Animation, Springer, Heidelberg (1995)
Dupont, P., Armstrong, B., Hayward, V.: Elasto-plastic friction model: Contact compliance and stiction. In: Proc. 2000 American Control Conference, pp. 1072–1077 (2000)
Dupont, P., Hayward, V., Armstrong, B., Altpeter, F.: Single state elasto-plastic friction models. IEEE Transactions on Automatic Control 47(5), 787–792 (2002)
Feygin, D., Keehner, M., Tendick, F.: Haptic guidance: Experimental evaluation of a haptic training method for a perceptual motor skill. In: Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 40–47 (2002)
Forsyth, B., MacLean, K.: Predictive haptic guidance: Intelligent user assistance for the control of dynamic tasks. IEEE Transactions on Visualization and Computer Graphics 12, 103–113 (2006)
Van Gelder, A.: Approximate simulation of elastic membranes by triangulated spring meshes. Journal of Graphics Tools 3(2), 21–42 (1998)
Yano, K., Esen, H., Buss, M.: A Control Algorithm and Preliminary User Studies For A Bone Drilling Medical Training System. In: Proceedings of RO-MAN (2003)
Hasegawa, S., Sato, M.: Real-time rigid body simulation for haptic interactions based on contact volume of polygonal objects. Cani MP, Slater M (eds.) Computer Graphics Forum 23, 529–538 (2004)
Hayward, V., Astley, O.: Performance measures for haptic interfaces. In: Giralt, G., Hirzinger, G. (eds.) Robotics Research: The 7th International Symposium, Springer, pp. 195–207. Springer, Heidelberg (1996)
Hollins, M., Faldowski, R., Rao, S., Young, F.: perceptual dimensions of tactile surface texture: A multidimensional scaling analysis. Perceptual Psychophysics 54(6), 687–705 (1993)
Hsu, S.H., Chang, W., Chuang, M.: Effects of geometric form features on three-dimensional object categorization. In: Perceptual Motor Skills 100(3 Pt 2), pp. 899–912 (2005)
Kuchenbecker, K., Fiene, J., Niemeyer, G.: Event-based haptics and acceleration matching: Portraying and assessing the realism of contact. In: World Haptics Conference (2005)
Mahvash, M., Hayward, V.: Haptic rendering of cutting: A fracture mechanics approach. Haptics-e 2(3) (2001)
Melara, R.D., Day, D.J.: Primacy of dimensions in vibrotactile perception: an evaluation of early holistic models. Perceptual Psychophysics 52(1), 1–17 (1992)
Murayama, J., Bouguila, L., Luo, Y., Akahane, K., Hasegawa, S., Hirsbrunner, B., Sato, M.: SPIDAR G&G: A Two-Handed Haptic Interface for Bimanual VR Interaction. In: Eurohaptics 2004 Conference, pp. 138–146 (2004)
Nava, A., Mazza, E., Kleinermann, F., Avis, N.J., McClure, J.: Determination of the Mechanical Properties of Soft Human Tissues through Aspiration Experiments. In: Ellis, R.E., Peters, T.M. (eds.) MICCAI 2003. LNCS, vol. 2878, pp. 222–229. Springer, Heidelberg (2003)
Okamura, A.M., Webster, R.J., Nolin, J.T., Johnson, K.W., Jafry, H.: The haptic scissors: cutting in virtual environments. In: IEEE International Conference on Robotics and Automation, pp. 828–833 (2003)
Ruffaldi, E., Morris, D., Edmunds, T., Pai, D., Barbagli, F.: Standardized evaluation of haptic rendering systems. In: 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, IEEE Virtual Reality, Los Alamitos (2006)
Ruspini, D.C., Kolarov, K., Khatib, O.: The haptic display of complex graphical environments. In: SIGGRAPH 1997 Conference Proceedings, pp. 345–352 (1997)
Shepard, R.N.: Analysis of proximities as a technique for the study of information processing in man. Human Factors 5, 33–48 (1963)
Tendick, F., Downes, M., Goktekin, T., Cavusoglu, M.C., Feygin, D., Wu, X., Eyal, R., Hegarty, M., Way, L.W.: A virtual environment testbed for training laparoscopic surgical skills. Presence: Teleoperators & Virtual Environments 9(3), 236–255 (2000)
Williams, R.L., Srivastava, M., Conaster, R., Howell, J.N.: Implementation and evaluation of a haptic playback system. Haptics-e 3(3) (2004)
Liu, A., Tendick, F., Cleary, K., Kaufmann, C.: A survey of surgical simulation: Applications, technology, and education. Presence: Teleoperators & Virtual Environments 12(6), 599–614 (2003)
Edelman, S.: Representation and recognition in vision. MIT Press, Cambridge (1999)
Cooke, T., Jäkel, F., Wallraven, C., Bülthoff, H.: Multimodal similarity and categorization of novel, three-dimensional objects. In: Neuropsychologia (2006)
Cooke, T., Kannengiesser, S., Wallraven, C., Bülthoff, H.: Object feature validation using visual and haptic similarity ratings. ACM Trans. Appl. Percept. 3(3), 239–261 (2006)
Leskovsky, P., Harders, M., Szekely, G.: Assessing the Fidelity of Haptically Rendered Deformable Objects. In: Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 19–25 (2006)
Tan, H.Z., Adelstein, B.D., Traylor, R., Kocsis, M.: Hirleman (eds.) Discrimination of Real and Virtual High-Definition Textured Surfaces. In: Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 1–8 (2006)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Harders, M., Leskovsky, P., Cooke, T., Ernst, M., Szekely, G. (2008). Design and Evaluation of Haptic Soft Tissue Interaction. In: Bicchi, A., Buss, M., Ernst, M.O., Peer, A. (eds) The Sense of Touch and its Rendering. Springer Tracts in Advanced Robotics, vol 45. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-79035-8_11
Download citation
DOI: https://doi.org/10.1007/978-3-540-79035-8_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-79034-1
Online ISBN: 978-3-540-79035-8
eBook Packages: EngineeringEngineering (R0)