Evaluation of pseudo-haptic feedback for simulating torque: a comparison between isometric and elastic input devices

In this work, we investigate whether pseudo-haptic feedback is suitable for simulating torque feedback. Pseudo-haptic feedback is based on the coupling of visual feedback and the internal resistance of an input device which passively reacts to the user's applied force. An experiment was conducted to evaluate this feedback and compare isometric and elastic input devices. It involved compliance discrimination between real torsion springs and pseudo-haptic simulated torsion springs. Results show that torque haptic feedback was successfully simulated, with a difference in performance between device types. The elastic device yielded better resolution but higher subjective distortion of perception compared to the isometric device. Results are discussed on the basis of user answers, answer time, and applied torque.