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Despite the large amount of research on kinesthetic haptic devices and haptic effect modeling, there is limited work assessing the perceived realism of kinesthetic model renderings. Identifying the impact of haptic effect parameters in perceived realism can help to inform the required accuracy of kinesthetic renderings. In this work, we model common kinesthetic haptic effects and evaluate the perceived realism of varying model parameters via a user study. Our results suggest that parameter accuracy requirements to achieve realistic ratings vary depending on the specific haptic parameter.more » « less
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This work investigates the stability of admittance type haptic devices in the context of a wider range of impedances than previously considered. More specifically, we consider the stable range of mass and damping. The coupled human driving impedance, actuator position control bandwidth, and loop delay are identified as major factors affecting the range of stable impedances. Finally, theoretical results are experimentally verified using a custom one degree of freedom admittance type haptic device.more » « less
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To understand how the realism of a kinesthetic haptic rendering is affected by the accurate selection of the rendering model parameters, we conducted a preliminary user study where subjects compared three real-world objects to their equivalent haptic rendering. The subjects rated the rendering realism as the model parameters were varied about their nominal values. The results suggest that the required accuracy of various haptic rendering parameters is not equally important when considering the perceived realism.more » « less
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Manipulations of a constrained object often use a non-rigid grasp that allows the object to rotate relative to the end effector. This orientation slip strategy is often present in natural human demonstrations, yet it is generally overlooked in methods to identify constraints from such demonstrations. In this paper, we present a method to model and recognize prehensile orientation slip in human demonstrations of constrained interactions. Using only observations of an end effector, we can detect the type of constraint, parameters of the constraint, and orientation slip properties. Our method uses a novel hierarchical model selection method that is informed by multiple origins of physics-based evidence. A study with eight participants shows that orientation slip occurs in natural demonstrations and confirms that it can be detected by our method.more » « less