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Psychophysics of Haptic Interaction Head: Ralph Hollis Contact: Ralph Hollis (rhollis@cs.cmu.edu) Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated lab/group: Microdynamic Systems Laboratory For more information, see this project's homepage.

This page last updated - August 2005.

Project Description

In the Microdynamics Systems Laboratory we are interested in measuring how much reality a haptic device can deliver (its fidelity). We have used our magnetic levitation haptic interface to perform a set of psychophysical experiments that examine the way in which users interact with real and virtual haptic worlds. For an introduction, an elementary discussion of haptics can be found in the encyclopedia article "Haptics" by Ralph Hollis.

Previous investigations of haptic fidelity have mostly focused on engineering qualities related to device kinematics and dynamics such as frequency response or position bandwidth. In contrast, psychophysical studies of haptic fidelity apply careful metrics to user task performance during the execution of a simple task.

Personnel [Past Members]

	Name	Title	Email Address
	Ralph Hollis	Research Professor	rhollis@cs.cmu.edu
	Roberta Klatzky	Professor	klatzky@cmu.edu
	Hanns Tappeiner	PhD Student, RI	hwt+@andrew.cmu.edu
	Bertram Unger	PhD Student, RI	bju@andrew.cmu.edu

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Haptic Rendering and Psychophysical Evaluation of a Virtual Three-Dimensional Helical Spring
  V. Varadharajan
  master's thesis, tech. report CMU-RI-TR-07-21, Robotics Institute, Carnegie Mellon University, May, 2007. [Abstract]
  Download: pdf [866 KB] copyrighted

• Virtual Peg-In-Hole Performance using a 6-DOF Magnetic Levitation Haptic Device: Comparison with Real Forces and with Visual Guidance Alone
  B. Unger, A. Nicolaidis, P. Berkelman, A. Thompson, S. Lederman, R. Klatzky, and R. Hollis
  Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2002), March, 2002, pp. 263 - 270. [Abstract]
  Download: pdf [408 KB] copyrighted

• Comparison of 3D Haptic Peg-In-Hole Tasks in Real and Virtual Environments
  B. Unger, A. Nicolaidis, P. Berkelman, A. Thompson, R. Klatzky, and R. Hollis
  Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), Vol. 3, September, 2001, pp. 1751 - 1756. [Abstract]
  Download: pdf [383 KB] copyrighted