Uniform Hardness Perception in 6-DOF Haptic Rendering
Bibliographic record
Abstract
In this paper, we study the influence of a haptic interface's effective mass and viscous damping on the hardness perception of simulated virtual objects in six-degree-of-freedom (6-DOF) haptic rendering. It is found that induced forces from these physical parameters affect the perceived hardness nonuniformly as users tap virtual objects with different parts of the tool. Fundamentally, the distinct hardness perception is caused by the discrepancy between the user's holding point and the active end of the device. A stick-on-ball application was used for comparisons of three proposed compensation methods. A total of six stiffness intensities in the range of 0.1-0.6 N/m at a step of 0.1 were randomly presented to a total of ten test subjects. Experimental results show both the need for compensation and the effectiveness of the proposed methods.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".