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2012 | Buch

Introduction Kapitel lesen Erstes Kapitel lesen

Performance Metrics for Haptic Interfaces

verfasst von: Evren Samur

Verlag: Springer London

Buchreihe : Springer Series on Touch and Haptic Systems

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik"

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SUCHEN

Über dieses Buch

Haptics technology is being used more and more in different applications, such as in computer games for increased immersion, in surgical simulators to create a realistic environment for training of surgeons, in surgical robotics due to safety issues and in mobile phones to provide feedback from user action. The existence of these applications highlights a clear need to understand performance metrics for haptic interfaces and their implications on device design, use and application. Performance Metrics for Haptic Interfaces aims at meeting this need by establishing standard practices for the evaluation of haptic interfaces and by identifying significant performance metrics.

Towards this end, a combined physical and psychophysical experimental methodology is presented. Firstly, existing physical performance measures and device characterization techniques are investigated and described in an illustrative way. Secondly, a wide range of human psychophysical experiments are reviewed and the appropriate ones are applied to haptic interactions. The psychophysical experiments are unified as a systematic and complete evaluation method for haptic interfaces. Finally, synthesis of both evaluation methods is discussed.

The metrics provided in this state-of-the-art volume will guide readers in evaluating the performance of any haptic interface. The generic methodology will enable researchers to experimentally assess the suitability of a haptic interface for a specific purpose, to characterize and compare devices quantitatively and to identify possible improvement strategies in the design of a system.

Inhaltsverzeichnis

Frontmatter

Basic Considerations

Frontmatter
Chapter 1. Introduction
Abstract
There is a growing need for defining evaluation standards for haptic applications. The purpose of evaluation procedures for haptic interfaces is to achieve both qualitative and quantitative statements on haptic rendering realism and performance. However, it is challenging to define a performance indicator since technical device evaluation is not straightforward to interpret the results in terms of perceived rendering quality. While a haptic device may come with specifications for its mechanical and electrical properties, no clear relationship between these properties and application-specific performance is available from neither commercial nor academic literature. In this chapter, similar problems of haptic interface performance evaluation are investigated in depth and the objectives of this book are provided.
Evren Samur
Chapter 2. State of the Art
Abstract
Haptic interfaces generate the sense of touch in the form of force or tactile feedback and allow us to touch and manipulate objects either within a virtual environment or in a real world through a slave of a teleoperated system, such as for surgical robotics. There has been considerable amount of research on the haptic technology, which brought it into computer games, surgical simulators, mobile phones etc. A closer investigation of these devices and studies on their performance evaluation shows that type of evaluations, aim of methods and performance metrics vary considerably depending on the device. We have, therefore, reviewed the evaluation methods in the literature that have been applied to haptic devices. In this chapter, first, commercially available haptic interfaces and their application areas are reviewed. Then, haptic interface evaluation studies in the literature are discussed and categorized into two groups: physical and psychophysical evaluation studies.
Evren Samur
Chapter 3. Human Haptic Perception
Abstract
Human hand performs sensory tasks and motor activities at the same time. Highly rich and multi-modal sensory pathway of haptics makes this sensorimotor continuum reliable. Understanding how this continuum works is crucial for any haptics researcher and/or designer. Therefore, this chapter reviews the psychophysical studies on human haptic perception in order to examine capabilities of this continuum. Basic properties of the hand and finger and their limitations in terms of haptic perception are summarized in order to use them as a reference in the following chapters. In addition, common psychophysical testing methods are discussed to provide the necessary background information.
Evren Samur

Physical Evaluation

Frontmatter
Chapter 4. Performance Evaluation Based on Physical Measurements
Abstract
Although a set of performance measures for haptic interfaces has already been defined in the literature, it is almost impossible to find detailed information on testing conditions and methods. Since there is no consensus on measurement methods, which vary considerably across studies, it might be misleading to compare technical specifications of different devices. In order to obtain a coherent technical evaluation methodology with specific performance metrics, we study physical evaluation methodologies for haptic interfaces in this chapter. Existing physical performance measures and methodologies in the field of robotics and haptics are categorized and described in detail. This results in a tutorial-like guideline for physical device evaluation, which describes in detail testing conditions and methods.
Evren Samur
Chapter 5. Application to a Haptic Interface
Abstract
In this chapter, the physical evaluation methods described in Chap. 4 are demonstrated on a two degrees-of-freedom haptic interface for surgical simulation. Since the whole physical evaluation methodology is very extensive and often requires special equipment, only some methods that are necessary to characterize the haptic interface are discussed here. After applying these methods, the physical evaluation of the haptic interface provided very useful information about the design and showed the points that need to be improved. This chapter is partially based on Samur et al. (IEEE Trans. Haptics, 2011, doi:10.​1109/​TOH.​2011.​70).
Evren Samur

Psychophysical Evaluation

Frontmatter
Chapter 6. Performance Evaluation Based on Psychophysical Tests
Abstract
A haptic interface is meant to be used by a human user. Its performance is highly affected by the user behavior and constraints. Application based or task specific evaluation methods have been proposed to test haptic interfaces during their proper use. This approach requires a human user to perform the task, thus it involves human dynamic and intention uncertainties. Although there is a variety of task specific evaluation approaches for haptic interfaces, it has not yet been possible to define a norm for meaningful device comparison and assessment. A proper evaluation procedure for haptic interfaces should link device performance measures to the limits of human perception in order to obtain device-specific limits. This chapter deals with psychophysical evaluation methodology. Testbed evaluation approach is applied to haptic interactions and a set of benchmark metrics are provided for haptic interfaces. We describe the methodology of seven testbeds and experimentally demonstrate usefulness of the testbeds on three commercial force-feedback devices. Finally, the general discussion at the end of this chapter summarizes the outcomes of the proposed psychophysical evaluation methodology.
Evren Samur
Chapter 7. Application to a Tactile Display
Abstract
This chapter explores the haptic rendering capabilities of a variable friction tactile interface through psychophysical experiments. In order to obtain a better understanding of the sensory resolution associated with the Tactile Pattern Display (TPaD), friction discrimination experiments are conducted. During the experiments, subjects are asked to explore the glass surface of the TPaD using their bare index fingers, to feel the friction on the surface, and to compare the slipperiness of two stimuli displayed in sequential order. The fingertip position data is collected by an infrared frame and normal and translational forces applied by the finger are measured by force sensors attached to the TPaD. The recorded data is used to calculate the coefficient of friction between the fingertip and the TPaD. The experiments determine the just noticeable difference (JND) of friction coefficient for humans interacting with the TPaD. This chapter is based on Samur et al. (Proc. of Human Vision and Electronic Imaging XIV, vol. 7240, 2009).
Evren Samur

Synthesis of Evaluation Methods

Frontmatter
Chapter 8. Conclusion
Abstract
A combined physical and psychophysical experimental methodology is proposed in this book. First, the existing physical performance measures and device characterization techniques were investigated and described in an illustrative way. The physical characterization methods were demonstrated on a two degrees-of-freedom haptic interface. Second, a wide range of human psychophysical experiments were reviewed and the appropriate ones were applied to haptic interactions. The psychophysical experiments were unified as a systematic and complete evaluation method for haptic interfaces. Seven psychophysical tests were derived and implemented for three commercial force-feedback devices. Experimental user studies were carried out and applicability of the tests to a tactile feedback device was investigated. This chapter summarizes the contributions and provides a synthesis of the physical and psychophysical evaluation methods.
Evren Samur
Backmatter
Metadaten
Titel
Performance Metrics for Haptic Interfaces
verfasst von
Evren Samur
Copyright-Jahr
2012
Verlag
Springer London
Electronic ISBN
978-1-4471-4225-6
Print ISBN
978-1-4471-4224-9
DOI
https://doi.org/10.1007/978-1-4471-4225-6

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