Establishing the relationship between vibrotactile parameters and perceived intensity(PI)is of great significance in the regulation of desired sensations,which contribute to haptic interfaces in practical applications...Establishing the relationship between vibrotactile parameters and perceived intensity(PI)is of great significance in the regulation of desired sensations,which contribute to haptic interfaces in practical applications.Coin eccentric rotating mass(ERM)motors are routinely utilized due to their lightweight design and efficient ability to evoke strong tactile sensations.By adjusting input voltages,ERMs can yield different stimuli,but the effects of their physical properties on PI remain unclear.Thus,we developed the physical model of the ERM-skin system and optimized the parameters affecting PI.Moreover,the relationship between stimulus and perception was derived based on Fechner's law.Three experiments were conducted on fifteen subjects(ten males and five females,aged 24.40±2.87 years)to identify the vibration parameters and corresponding PI to verify the proposed PI model.ERMs in this study were attached to phantom skin/forearm with slim adhesive tape to minimize the interference.Experiment 1 performed vibration calibration with ERM attached to the skin phantom to simulate the actual configuration.Then,the relative and absolute PI of subjects on specific stimuli were acquired in Experiments 2 and 3.The fitting reliability of the proposed PI model was evaluated on fifteen subjects with R^(2) of 0.73±0.07 and root mean squared error(RMSE)of 1.35±0.28.Overall,the proposed PI model established the quantitative relationship between stimulus parameters(vibration parameters and physical parameters)and subjective PI,which provided theoretical support for ERM optimization and vibrotactile modulation.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.91948302,52175021,52375021)the Key Research and Development Program of Science and Technology Department of Sichuan Province(Grant No.2023YFS0135).
文摘Establishing the relationship between vibrotactile parameters and perceived intensity(PI)is of great significance in the regulation of desired sensations,which contribute to haptic interfaces in practical applications.Coin eccentric rotating mass(ERM)motors are routinely utilized due to their lightweight design and efficient ability to evoke strong tactile sensations.By adjusting input voltages,ERMs can yield different stimuli,but the effects of their physical properties on PI remain unclear.Thus,we developed the physical model of the ERM-skin system and optimized the parameters affecting PI.Moreover,the relationship between stimulus and perception was derived based on Fechner's law.Three experiments were conducted on fifteen subjects(ten males and five females,aged 24.40±2.87 years)to identify the vibration parameters and corresponding PI to verify the proposed PI model.ERMs in this study were attached to phantom skin/forearm with slim adhesive tape to minimize the interference.Experiment 1 performed vibration calibration with ERM attached to the skin phantom to simulate the actual configuration.Then,the relative and absolute PI of subjects on specific stimuli were acquired in Experiments 2 and 3.The fitting reliability of the proposed PI model was evaluated on fifteen subjects with R^(2) of 0.73±0.07 and root mean squared error(RMSE)of 1.35±0.28.Overall,the proposed PI model established the quantitative relationship between stimulus parameters(vibration parameters and physical parameters)and subjective PI,which provided theoretical support for ERM optimization and vibrotactile modulation.
