Estimation of resolvability of user response in kinesthetic perception of jump discontinuities

摘要

Perceptually adaptive sampling based on Weber's law has been used to reduce the haptic packet rate for efficient haptic data transmission over Internet. In a teleoperation, perceptually significant force samples are transmitted from a robot to a human operator. If the time spacing between two consecutive perceptually sampled kinesthetic force stimuli is less than the minimum time spacing (temporal resolution T <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">r</inf> ) required in perceiving the jump discontinuity, then the second force stimulus will not be perceived even if it is well above the just noticeable difference. Hence, there is no need to transmit the second force sample to the operator. Thus, for the transmission in a teleoperation, the temporal resolution T <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">r</inf> needs also to be considered while effecting perceptually adaptive sampling. To the best of our knowledge, it has not been studied in the literature. In this work, we propose a statistical method to estimate the temporal resolution T <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">r</inf> . In order to achieve this, we design an appropriate experimental set up, and record the haptic responses for several users extensively. We also study the effect of perceptual fatigue on the temporal resolution T <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">r</inf> , and validate all results using the classical psychometric approach.