Semantic Parameterization of Basic Surface Models Rendered with PHANToM Omni

This paper presents a study of subjective responses to haptic stimuli displayed as surfaces on a haptic force feedback device and a computer monitor and experienced through free kinesthetic exploration. The modified settings were stiffness, static friction, and dynamic friction as defined in the PHANToM Omni standard SDK. A sphere was used as the virtual shape for exploration. Subjects spoke freely about their subjective responses while session moderators recorded the comments as text. The responses were broken down and categorized by morphological analysis of haptic sensation primitives: hardness, softness, roughness, smoothness, and elasticity. Analysis of the resulting morphemes showed that eliciting specific subjective outcomes in kinesthetically experienced haptic space requires adjustment of multiple settings. Naive understandings of haptic materials surface settings in such devices are likely to be insufficient. Open ended semantic studies such as the one described in this paper can result in a better understanding of this perceptual space and lead to better guidelines or supportive systems for haptic interface developers.