Characterizing the Effects of Haptic Rendering Parameter Variations on Perceived Kinesthetic Rendering Accuracy

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.