Calibration of Virtual Haptic Texture Algorithms

Part of the Springer Series on Touch and Haptic Systems book series (SSTHS)


Calibrating displays can be a time-consuming process. We describe a fast method for adjusting the subjective experience of roughness produced by different haptic texture synthesis algorithms. Efficiency results from the exponential convergence of the “modified binary search method” (MOBS) to a point of subjective equivalence between two virtual haptic textures. The method was applied to calibrate the modulation of the normal interaction force component against modulating a tangential friction force component. A table establishing the perceptual equivalence between parameters having different physical dimensions was found by testing 10 subjects. The method is able to overcome significant individual differences in the subjective judgement of roughness because roughness itself never needs to be directly estimated. A similar method could be applied to other perceptual dimensions provided that the controlling parameter be monotonically related to a subjective estimate.


Spatial Frequency Psychometric Function Characteristic Number Haptic Device Passivity Margin 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



The authors would like to thank Andrew H.C. Gosline for the engineering of the eddy current brakes, Maarten W.A. Wijntjes and Ilja Frissen for advice with psychometric techniques. This work was funded by a Collaborative Research and Development Grant “High Fidelity Surgical Simulation” from the Natural Sciences and Engineering Council of Canada (nserc), and by Immersion Corp. Additional funding is from a Discovery Grant fromnserc for the second author.


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Copyright information

© IEEE 2009

Authors and Affiliations

  1. 1.MontrealCanada

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