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Evaluation of a Penalty and a Constraint-Based Haptic Rendering Algorithm with Different Haptic Interfaces and Stiffness Values

Sagardia, Mikel and Hulin, Thomas (2017) Evaluation of a Penalty and a Constraint-Based Haptic Rendering Algorithm with Different Haptic Interfaces and Stiffness Values. In: Proceedings - IEEE Virtual Reality. IEEE VR 2017, 18-22 March 2017, Los Angeles, California, USA. doi: 10.1109/VR.2017.7892232.

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Official URL: http://ieeexplore.ieee.org/document/7892232/


This work presents an evaluation study in which the effects of a penalty-based and a constraint-based haptic rendering algorithm on the user performance and perception are analyzed. A total of N = 24 participants performed in a within-design study three variations of peg-in-hole tasks in a virtual environment after trials in an identically replicated real scenario as a reference. In addition to the two mentioned haptic rendering paradigms, two haptic devices were used, the HUG and a Sigma.7, and the force stiffness was also varied with maximum and half values possible for each device. Both objective (time and trajectory, collision performance, and muscular effort) and subjective ratings (contact perception, ergonomy, and workload) were recorded and statistically analyzed. The results show that the constraint-based haptic rendering algorithm with a lower stiffness than the maximum possible yields the most realistic contact perception, while keeping the visual inter-penetration between the objects roughly at around 15% of that caused by penalty-based algorithm (i.e., non perceptible in many cases). This result is even more evident with the HUG, the haptic device with the highest force display capabilities, although user ratings point to the Sigma.7 as the device with highest usability and lowest workload indicators. Altogether, the paper provides qualitative and quantitative guidelines for mapping properties of haptic algorithms and devices to user performance and perception.

Item URL in elib:https://elib.dlr.de/112713/
Document Type:Conference or Workshop Item (Speech)
Title:Evaluation of a Penalty and a Constraint-Based Haptic Rendering Algorithm with Different Haptic Interfaces and Stiffness Values
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sagardia, MikelUNSPECIFIEDhttps://orcid.org/0000-0001-7603-1717UNSPECIFIED
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Date:21 March 2017
Journal or Publication Title:Proceedings - IEEE Virtual Reality
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Rendering (computer graphics), Force, Performance evaluation, Visualization, Trajectory, Force feedback
Event Title:IEEE VR 2017
Event Location:Los Angeles, California, USA
Event Type:international Conference
Event Dates:18-22 March 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - OOS: Virtual Reality [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Hulin, Dr. Thomas
Deposited On:19 Jun 2017 11:40
Last Modified:21 Jul 2023 08:56

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