Haptic Texture Rendering and Perception Using Coil Array Magnetic Levitation Haptic Interface: Effects of Torque Feedback and Probe Type on Roughness Perception

Abstract

A Novel maglev-based haptic platform was deployed to investigate the effects of torque feedback and stylus type on human roughness perception. For this purpose, two haptic probes, fingertip and penhandle, were 3D printed each with one and four embedded magnets respectively. Three different torque renderings namely No Torque, Slope Torque, and Stiff Torque were developed, in tendem with penetration-based force feedback to render simulated surfaces. The main difference between these conditions was the amount and type of active torque that was generated. Conventional magnitude estimation experiment for data gathering and analysis was performed. The results of the experiment showed strong effects of wavelength within all torques and probes. Participants rated surfaces rougher in the Slope Torque and with the fingertip compared to penhandle. These results revealed new means of torque-based surface generation that lead to higher roughness perception. The outcomes also highlight the importance of probe type on human roughness perception.