Abstract
Most studies on the haptic perception of force direction have been conducted without hand movements, whereas hand movements are normally required in real-world applications. This paper reports a study on the perception of haptic force direction during hand movement. Discrimination thresholds for force direction were determined for two hand movement speeds, slow and fast, and for five reference force directions. The results show that the perception of force direction is not affected by hand movement speed. We also found that the perception of force direction was not impaired by the hand motion, nor by the direction of the reference force.KeywordsForce directionhuman perceptiondiscrimination thresholdhand motion
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