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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.

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This Masters thesis presents the development of a new deformable object for haptic interaction in the form of a 3D helical spring. This haptic and visual simulation is based on an analytical model of a quasistatic spring. The model provides a real-time computationally efficient method for rendering a deformable spring using a magnetic levitation haptic device. The solution includes equations for reaction forces and resisting moments experienced during compression, elongation, shear and tilting of the spring. The system is used to conduct psychophysical experiments that quantify human perception and discriminability of spring stiffness magnitude with and without vision and demonstrates the effectiveness of the device and the simulation for rendering springs. Experimental results show that spring magnitude perception follows a linear trend, and presence of vision enables better discrimination between different spring stiffnesses.

Associated lab/group: Microdynamic Systems Laboratory
Associated project: Psychophysics of Haptic Interaction

Number of pages: 55

V. Varadharajan, Haptic Rendering and Psychophysical Evaluation of a Virtual Three-Dimensional Helical Spring, master's thesis, tech. report CMU-RI-TR-07-21, Robotics Institute, Carnegie Mellon University, May, 2007.

@mastersthesis{Varadharajan_2007_5762,
   author = "Vinithra Varadharajan",
   title = "Haptic Rendering and Psychophysical Evaluation of a Virtual Three-Dimensional Helical Spring",
   school = "Robotics Institute, Carnegie Mellon University",
   month = "May",
   year = "2007",
   address = "Pittsburgh, PA"
}