Semantic Parameterization of Basic Surface Models Rendered with PHANToM Omni

  • Yugo Hayashi
  • Eric W. Cooper
  • Victor V. Kryssanov
  • Hitoshi Ogawa
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6851)


This paper presents a study of subjective responses to haptic stimuli displayed as surfaces on a haptic force feedback device and a computer monitor and experienced through free kinesthetic exploration. The modified settings were stiffness, static friction, and dynamic friction as defined in the PHANToM Omni standard SDK. A sphere was used as the virtual shape for exploration. Subjects spoke freely about their subjective responses while session moderators recorded the comments as text. The responses were broken down and categorized by morphological analysis of haptic sensation primitives: hardness, softness, roughness, smoothness, and elasticity. Analysis of the resulting morphemes showed that eliciting specific subjective outcomes in kinesthetically experienced haptic space requires adjustment of multiple settings. Naïve understandings of haptic materials surface settings in such devices are likely to be insufficient. Open ended semantic studies such as the one described in this paper can result in a better understanding of this perceptual space and lead to better guidelines or supportive systems for haptic interface developers.


subjective haptics haptic materials settings friction stiffness 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Lederman, S.J., Klatzky, R.L.: Haptic perception: A tutorial, Atten. Percept. Psychophys. 71(7), 1439–1459 (2009)CrossRefGoogle Scholar
  2. 2.
    Suga, M., Okamoto, T., Oshiro, M., Tsutsumi, N., Sakai, T.: Sensible human projects: haptic modeling and surgical simulation based on measurements of practical patients with MR elastography–measurement of elastic modulus. Stud. Health. Technol. Inform. 70, 334–340 (2000)Google Scholar
  3. 3.
    Hollins, M., Faldowski, R., Rao, S., Young, F.: Perceptual dimensions of tactile surface texture: a multidimensional scaling analysis. Percept. Psychophys. 54(6), 697–705 (1993)CrossRefGoogle Scholar
  4. 4.
    Smith, A.M., Scott, S.H.: Subjective scaling of smooth surface friction. J. Neurophysiol. 75(5), 1957–1962 (1996)Google Scholar
  5. 5.
    Tiest, W., Kappers, A.: Analysis of haptic perception of materials by multidimensional scaling and physical measurements of roughness and compressibility. Acta Psychol. 121(1), 1–20 (2006)CrossRefGoogle Scholar
  6. 6.
    MacLean, K., Enriquez, M.: Perceptual Design of Haptic Icons. In: Proc. of Eurohaptics, Dublin, Ireland (2003) Google Scholar
  7. 7.
    MacLean, K.: Haptic Interaction Design for Everyday Interfaces. E. Source: Reviews of Human Factors and Ergonomics 4, 149–194 (2008)Google Scholar
  8. 8.
    Cooper, E.W., Kryssanov, V.V., Ogawa, H.: Building a Framework for Communication of Emotional State through Interaction with Haptic Devices. In: Nordahl, R., Serafin, S., Fontana, F., Brewster, S. (eds.) HAID 2010. LNCS, vol. 6306, pp. 189–196. Springer, Heidelberg (2010)CrossRefGoogle Scholar
  9. 9.
    Smith, J., MacLean, K.: Communicating Emotion Through a Haptic Link: Design Space and Methodology. J. of Human-Computer Studies 65(4), 376–387 (2007)CrossRefGoogle Scholar
  10. 10.
    OpenHaptics Toolkit, Sensable, (accessed May 2011)
  11. 11.
    Kudo, T.: MeCab: Yet Another Part-of-speech and Morphological Analyzer, (accessed May 2011)
  12. 12.
    Den, Y., Nakamura, J., Ogiso, T., and Ogura, H.: A proper approach to Japanese morphological analysis: Dictionary, model, and evaluation. In: Proc. LREC, pp. 1019–1024 (2008) Google Scholar
  13. 13.
    Hasegawa, D., Rzepka, R., Araki, K.: Evaluation of Connectives Acquisition in a Humanoid Robot Using Direct Physical Feedback. In: Orgun, M.A., Thornton, J. (eds.) AI 2007. LNCS (LNAI), vol. 4830, pp. 664–668. Springer, Heidelberg (2007)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Yugo Hayashi
    • 1
  • Eric W. Cooper
    • 1
  • Victor V. Kryssanov
    • 1
  • Hitoshi Ogawa
    • 1
  1. 1.College of Information Science and EngineeringRitsumeikan UniversityKusatsuJapan

Personalised recommendations