Towards an Understanding of the Role Operator Limb Dynamics Plays in Haptic Perception of Stiffness

TL;DR

This study investigates how operator limb dynamics and exploration velocity influence haptic perception of stiffness, using a 1-DoF device and EMG to explore the underlying factors affecting tactile discrimination.

Contribution

It introduces an experimental setup combining a kinesthetic haptic device and EMG to examine the effects of exploration velocity and muscle activation on stiffness perception.

Findings

Potential link between exploration velocity and discrimination thresholds

Complex interaction between muscle activation and haptic feedback

Preliminary evidence of velocity affecting haptic perception

Abstract

Creating haptic interfaces capable of rendering the rich sensation needed for dexterous manipulation is crucial for the advancement of human-in-the-loop telerobotic systems (HiLTS). One limiting factor has been the absence of detailed knowledge of the effect of operator limb dynamics and haptic exploration dynamics on haptic perception. We propose to begin investigations of these effects with single-joint haptic exploration and feedback of physical and virtual environments. Here, we present our experimental apparatus, a 1-DoF rotational kinesthetic haptic device and electromyography (EMG) system, along with preliminary findings from our efforts to investigate the change in stiffness discrimination thresholds for differing exploration velocities. Result trends indicate a possible relationship between exploration velocity and discrimination thresholds, as well as a complex interaction between muscle activation, exploration velocity, and haptic feedback.