Perception of stiffness during interaction with delay-like nonlinear force field

Raz Leib; Ilana Nisky; Amir Karniel

doi:10.1007/978-3-642-14064-8_13

Perception of stiffness during interaction with delay-like nonlinear force field

Raz Leib, Ilana Nisky, Amir Karniel

Department of Biomedical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

The perception of linear stiffness, as well as delayed linear stiffness, was studied extensively during the last decades. In this study we set to explore the effects of non linear relation between force and position on perception of stiffness. We designed a state dependent non-linear force field, similar to the previously explored delayed force field, which is essentially a piecewise linear force field depending only on the position and the direction of movement and not on time. We show that the stiffness of this force field is overestimated. We suggest a model based on the inverse of the slope of a regression of position over force in order to explain these behavioral results, which indirectly implies that force control is used during this exploratory probing.

Original language	English
Title of host publication	Haptics
Subtitle of host publication	Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings
Pages	87-92
Number of pages	6
Edition	PART 1
DOIs	https://doi.org/10.1007/978-3-642-14064-8_13
State	Published - 6 Aug 2010
Event	International Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010 - Amsterdam, Netherlands Duration: 8 Jul 2010 → 10 Jul 2010

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	6191 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	International Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010
Country/Territory	Netherlands
City	Amsterdam
Period	8/07/10 → 10/07/10

Keywords

Stiffness
force control
perception

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science (all)

Access to Document

10.1007/978-3-642-14064-8_13

Cite this

Leib, R., Nisky, I., & Karniel, A. (2010). Perception of stiffness during interaction with delay-like nonlinear force field. In Haptics: Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings (PART 1 ed., pp. 87-92). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6191 LNCS, No. PART 1). https://doi.org/10.1007/978-3-642-14064-8_13

Leib, Raz ; Nisky, Ilana ; Karniel, Amir. / Perception of stiffness during interaction with delay-like nonlinear force field. Haptics: Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings. PART 1. ed. 2010. pp. 87-92 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

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abstract = "The perception of linear stiffness, as well as delayed linear stiffness, was studied extensively during the last decades. In this study we set to explore the effects of non linear relation between force and position on perception of stiffness. We designed a state dependent non-linear force field, similar to the previously explored delayed force field, which is essentially a piecewise linear force field depending only on the position and the direction of movement and not on time. We show that the stiffness of this force field is overestimated. We suggest a model based on the inverse of the slope of a regression of position over force in order to explain these behavioral results, which indirectly implies that force control is used during this exploratory probing.",

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Leib, R, Nisky, I & Karniel, A 2010, Perception of stiffness during interaction with delay-like nonlinear force field. in Haptics: Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 6191 LNCS, pp. 87-92, International Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010, Amsterdam, Netherlands, 8/07/10. https://doi.org/10.1007/978-3-642-14064-8_13

Perception of stiffness during interaction with delay-like nonlinear force field. / Leib, Raz; Nisky, Ilana; Karniel, Amir.
Haptics: Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings. PART 1. ed. 2010. p. 87-92 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6191 LNCS, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - The perception of linear stiffness, as well as delayed linear stiffness, was studied extensively during the last decades. In this study we set to explore the effects of non linear relation between force and position on perception of stiffness. We designed a state dependent non-linear force field, similar to the previously explored delayed force field, which is essentially a piecewise linear force field depending only on the position and the direction of movement and not on time. We show that the stiffness of this force field is overestimated. We suggest a model based on the inverse of the slope of a regression of position over force in order to explain these behavioral results, which indirectly implies that force control is used during this exploratory probing.

AB - The perception of linear stiffness, as well as delayed linear stiffness, was studied extensively during the last decades. In this study we set to explore the effects of non linear relation between force and position on perception of stiffness. We designed a state dependent non-linear force field, similar to the previously explored delayed force field, which is essentially a piecewise linear force field depending only on the position and the direction of movement and not on time. We show that the stiffness of this force field is overestimated. We suggest a model based on the inverse of the slope of a regression of position over force in order to explain these behavioral results, which indirectly implies that force control is used during this exploratory probing.

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Leib R, Nisky I, Karniel A. Perception of stiffness during interaction with delay-like nonlinear force field. In Haptics: Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings. PART 1 ed. 2010. p. 87-92. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-642-14064-8_13

Perception of stiffness during interaction with delay-like nonlinear force field

Abstract

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Keywords

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