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

Raz Leib, Ilana Nisky, Amir Karniel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-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 languageEnglish
Title of host publicationHaptics
Subtitle of host publicationGenerating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings
Pages87-92
Number of pages6
EditionPART 1
DOIs
StatePublished - 6 Aug 2010
EventInternational Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010 - Amsterdam, Netherlands
Duration: 8 Jul 201010 Jul 2010

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume6191 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

ConferenceInternational Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010
Country/TerritoryNetherlands
CityAmsterdam
Period8/07/1010/07/10

Keywords

  • Stiffness
  • force control
  • perception

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