Weight Perception with Real and Virtual Weights Using Unimanual and Bimanual Precision Grip

Abstract

Accurate weight perception is crucial for effective object manipulation in the real world. The design of force feedback haptic interfaces for precise manipulation of virtual objects should take into account how weight simulation is implemented when manipulation involves one hand or two hands with one or two objects. The importance of this is apparent in tasks where the user requires applying vertical forces to penetrate a surface with a tool or splice a fragile object using one and/or two hands. Accurate perception of simulated weight should allow the user to execute the task with high precision. Nonetheless, most commonly used force feedback interfaces for direct manipulation of virtual object use a thimble through which the users interacts with the virtual object. While this allows use of proprio-ceptive weight information, it may reduce the cutaneous feedback that also provides weight information through pressure and skin deformation when interacting with real objects. In this chapter, we present research in unimanual and bimanual weight perception with real and virtual objects and examine the magnitude of grip forces involved and relative contribution of cutaneous and proprioceptive information to weight perception.