ICRA 2011 Paper Abstract


Paper TuP106.5

Porquis, Lope Ben (Tohoku University), Konyo, Masashi (Tohoku University), Tadokoro, Satoshi (Tohoku University)

Representation of Softness Sensation Using Vibrotactile Stimuli under Amplitude Control

Scheduled for presentation during the Regular Sessions "Haptics and Haptic Interfaces II" (TuP106), Tuesday, May 10, 2011, 14:40−14:55, Room 5A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Haptics and Haptic Interfaces, Teleoperation, Virtual Reality and Interfaces


An experimental study was done to examine the relationship between vibrotactile amplitude displacement and softness sensation. Merkel Disk behavior in relation to softness sensation was studied under psychophysical experimentation of human participants. Restrictions are carefully applied on contact area spreading so that vibration will be the only factor that would induce a sensation. A vibrotactile device was excited at constant frequency and its amplitude is adjusted at different levels to alter the amount of skin displacement. Volunteers participated in a two-alternative force choice experiment were ask to compare the perceived softness difference between the voice coil and the silicon rubber. Statistical analysis on the responses of participants showed a decline of spring constant. It was interesting to note that even though contact area was significantly restrained participants were still able to discriminate softness sensation form vibrotactile stimulation. Such observation possibly indicates that illusion of contact area spread rate can be reproduced by vibrotactile stimulation.



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