Empirical study regarding representing roughness with haptic devices

Abstract

In this study, we examined methods of sensing roughness with haptic displays. Representation of paper quality applies to dictionaries, notebooks and other everyday items, not just calligraphy and washi paper. In contrast, the discrimination thresholds were Z0.75 = 0.0685 for dynamic friction and Z0.75 = 0.0466 for static friction. Considering the limitations placed on normal force, this means change in force can only be sensed up to 0.685 (N) and 0.466 (N), respectively.