Effect of Update Rate on Perceived Instability of Virtual Haptic Texture.pdfVIP

Effect of Update Rate on Perceived Instability of Virtual Haptic Texture Seungmoon Choi and Hong Z. Tan Haptic Interface Research Laboratory Purdue University West Lafayette, IN, U.S.A. {chois, hongtan}@ Abstract— This study investigates the effect of update rate [1]–[3]. The effects of many factors including texture on the perceived quality of haptic virtual textures, focusing model parameter, rendering method, collision detection al- on one type of perceived instability called “buzzing.” Buzzing gorithm, and exploration mode were examined. Our results refers to the high-frequency noises that may emanate from a force-feedback device during haptic texture rendering. indicated that the parameter spaces for perceptually stable We first present a simulation of a haptic texture rendering texture rendering were very small such that the stiffest system that explicitly models the sampled-data nature of the textured plane that could be rendered without perceived system. The simulation shows that a slow haptic update rate instability felt like soft corduroy. can significantly increase the high-frequency noise in the From our earlier studies, we discovered three primary reconstructed force command sent to the haptic interface. This noise may excite the structural resonance of the haptic types of perceived instability: buzzing, aliveness, and ridge interface and result in a high-frequency buzzing at the inter- instability (see [1] for details). For each type of per- action tool that a user ho