{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:14:46Z","timestamp":1762521286849,"version":"3.41.2"},"reference-count":22,"publisher":"ASME International","issue":"1","content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2009,3,1]]},"abstract":"<jats:p>A promising way to support operators in a manual control task is to provide them with guiding feedback forces on the control device (e.g., the steering wheel). These additional forces can suggest a safe course of action, which operators can follow or over-rule. This paper explores the idea that the feedback forces can be designed not only to depend on a calculated error (i.e., force feedback) but also on the control device position (i.e., stiffness feedback). First, the fundamental properties of force and stiffness feedback are explained, and important parameters for designing beneficial haptic feedback are discussed. Then, in an experiment, the unassisted control of a second-order system (perturbed by a multisine disturbance) is compared with the same control task supported by four haptic feedback systems: weak and strong force feedback, both with and without additional stiffness feedback. Time and frequency-domain analyses are used to understand the changes in human control behavior. The experimental results indicate that\u2014when well designed\u2014stiffness feedback may raise error-rejection performance with the same level of control activity as during unassisted control. The findings may aid in the design of haptic feedback systems for automotive and aerospace applications, where human attention is still required in a visually overloaded environment.<\/jats:p>","DOI":"10.1115\/1.3072902","type":"journal-article","created":{"date-parts":[[2009,3,6]],"date-time":"2009-03-06T23:30:53Z","timestamp":1236382253000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":69,"title":["Exploring the Dimensions of Haptic Feedback Support in Manual Control"],"prefix":"10.1115","volume":"9","author":[{"given":"D. A.","family":"Abbink","sequence":"first","affiliation":[{"name":"BioMechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands"}]},{"given":"M.","family":"Mulder","sequence":"additional","affiliation":[{"name":"Control and Simulation Division, Faculty of Aerospace Engineering, Delft University of Technology, 2600 GB Delft, The Netherlands"}]}],"member":"33","published-online":{"date-parts":[[2009,3,3]]},"reference":[{"key":"2019100402081313700_c1","unstructured":"Mulder, M.\n          , 2007, \u201cHaptic Gas Pedal Feedback for Active Car-Following Support\u201d Ph.D. thesis, Delft University of Technology, Delft, The Netherlands."},{"key":"2019100402081313700_c2","first-page":"2905","article-title":"Identification of Driver Car-Following Behaviour","volume-title":"Proceedings of the IEEE International Conference on Systems, Man and Cybernetics","author":"Mulder"},{"key":"2019100402081313700_c3","first-page":"399","article-title":"Effects of Lead Vehicle Speed and Separation Distance on Driver Car-Following Behaviour","volume-title":"Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics","author":"Mulder"},{"article-title":"Car-Following Support With Haptic Gas Pedal Feedback","volume-title":"Proceedings of IFAC Symposium on Analysis, Design, and Evaluation of Human-Machine Systems","author":"Mulder","key":"2019100402081313700_c4"},{"key":"2019100402081313700_c5","unstructured":"Abbink, D. 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