| The effects of various machine parameters on human perception of measurable paradigms in a haptic environment are studied. Three psychophysical concepts are used to quantify the haptic perception of detail, namely detection, discrimination, and identification. Experiments designed to test these concepts in humans interacting with haptic devices allow the author to investigate the relationship between haptic system quality and human performance. The machine parameters under investigation include maximum force output, bandwidth, and time delay. By using a high-performance haptic interface developed at Vanderbilt University, the author is able to degrade system quality in terms of these machine parameters and measure the change in human perception. Measures of haptic perception are recorded and analyzed to determine useful relationships between these mechanical parameters and perception limitations. Research results provide a set of design specifications for the proper and cost-effective design of haptic interfaces for a given situation. |
