{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,24]],"date-time":"2026-06-24T16:19:41Z","timestamp":1782317981949,"version":"3.54.5"},"reference-count":37,"publisher":"Association for Computing Machinery (ACM)","issue":"1","license":[{"start":{"date-parts":[[2010,10,1]],"date-time":"2010-10-01T00:00:00Z","timestamp":1285891200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/501100004965","name":"Sixth Framework Programme","doi-asserted-by":"publisher","award":["IST-045201"],"award-info":[{"award-number":["IST-045201"]}],"id":[{"id":"10.13039\/501100004965","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Appl. Percept."],"published-print":{"date-parts":[[2010,10]]},"abstract":"<jats:p>This article reports on experiments about haptic perception aimed at measuring the force\/torque differential thresholds applied to the hand-arm system. The experimental work analyzes how force is sent back to the user by means of a 6 degrees-of-freedom haptic device. Our findings on force perception indicate that the just-noticeable-difference is generally higher than previously reported in the literature and not constant along the stimulus continuum. We found evidence that the thresholds change also among the different directions. Furthermore, asymmetries in force perceptions, which were not described in previous reports, can be evinced for most of the directions. These findings support our claim that human beings perceive forces differently along different directions, thus suggesting that perception can also be enhanced by suitable signal processing, that is, with a manipulation of the force signal before it reaches the haptic device. We think that the improvement of the user perception can have a great impact in many applications and in particular we are focusing on surgical teleoperation scenarios.<\/jats:p>","DOI":"10.1145\/1857893.1857894","type":"journal-article","created":{"date-parts":[[2010,11,9]],"date-time":"2010-11-09T13:52:03Z","timestamp":1289310723000},"page":"1-16","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":30,"title":["Evaluation of force and torque magnitude discrimination thresholds on the human hand-arm system"],"prefix":"10.1145","volume":"8","author":[{"given":"M.","family":"Vicentini","sequence":"first","affiliation":[{"name":"University of Verona, Verona, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"S.","family":"Galvan","sequence":"additional","affiliation":[{"name":"University of Verona, Verona, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"D.","family":"Botturi","sequence":"additional","affiliation":[{"name":"University of Verona, Verona, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"P.","family":"Fiorini","sequence":"additional","affiliation":[{"name":"University of Verona, Verona, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2010,11,10]]},"reference":[{"key":"e_1_2_1_1_1","unstructured":"Allin S. Matsuoka Y. and Klatzky R. 2002. Measuring just noticeable differences for haptic force feedback: Implication for rehabilitation. In Haptic Interfaces for Virtual Environment &amp; Teleoperator Systems. IEEE Computer Society Press Los Alamitos CA 299--303. Allin S. Matsuoka Y. and Klatzky R. 2002. Measuring just noticeable differences for haptic force feedback: Implication for rehabilitation. In Haptic Interfaces for Virtual Environment &amp; Teleoperator Systems. IEEE Computer Society Press Los Alamitos CA 299--303."},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/1141897.1141901"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.18-04-01528.1998"},{"key":"e_1_2_1_4_1","first-page":"197","article-title":"Kinematic coupling between operator and remote manipulator","volume":"1","author":"Bejczy A.","year":"1980","journal-title":"Adv. Comput. Tech."},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2005.843443"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.3758\/BF03207502"},{"key":"e_1_2_1_7_1","unstructured":"Burdea G. 1996. Force and Touch Feedback for Virtual Reality. John Wiley &amp; Sons Inc. New York NY. Burdea G. 1996. Force and Touch Feedback for Virtual Reality. John Wiley &amp; Sons Inc. New York NY."},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1177\/0049124104268644"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1007\/PL00007962"},{"key":"e_1_2_1_10_1","volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems. IEEE Computer Society Press","author":"Galvan S."},{"key":"e_1_2_1_11_1","doi-asserted-by":"crossref","volume-title":"Psychophysics: The Fundamentals","author":"Gescheider G. A.","DOI":"10.4324\/9780203774458"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1121\/1.406696"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1121\/1.410378"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCG.2004.1274059"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/VR.2006.15"},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1162\/105474698565721"},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00952251"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00230304"},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-005-0223-7"},{"key":"e_1_2_1_20_1","doi-asserted-by":"crossref","unstructured":"Kay B. A. Hogan N. Mussa-Ivaldi F. A. and Fasse E. 1989. Perceiving the properties of objects using arm movements: Workspace-dependent effects. In Engineering in Medicine and Biology Society. Vol. 5. IEEE Computer Society Press Los Alamitos CA 1522--1523. Kay B. A. Hogan N. Mussa-Ivaldi F. A. and Fasse E. 1989. Perceiving the properties of objects using arm movements: Workspace-dependent effects. In Engineering in Medicine and Biology Society. Vol. 5. IEEE Computer Society Press Los Alamitos CA 1522--1523.","DOI":"10.1109\/IEMBS.1989.96320"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.3758\/BF03194543"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.3758\/BF03194419"},{"key":"e_1_2_1_23_1","unstructured":"Marks L. E. and Gesheider G. A. 2002. Psychophysical scaling. In Stevens' Handbook of Experimental Psychology H. E. Pashler and J. Wixted Eds. Vol. 4 Methodology. John Wiley &amp; Sons Inc. New York NY 91--138. Marks L. E. and Gesheider G. A. 2002. Psychophysical scaling. In Stevens' Handbook of Experimental Psychology H. E. Pashler and J. Wixted Eds. Vol. 4 Methodology. John Wiley &amp; Sons Inc. New York NY 91--138."},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1243\/09544070JAUTO415"},{"key":"e_1_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0960-9822(02)01178-8"},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.3758\/BF03212187"},{"key":"e_1_2_1_27_1","volume-title":"R: A Language and Environment for Statistical Computing","author":"Development Core Team","year":"2008"},{"key":"e_1_2_1_28_1","doi-asserted-by":"crossref","unstructured":"Rees D. W. and Copeland N. K. 1960. Discrimination of differences in mass of weightless objects. WADD Tech rep. 60-601. Wright-Patterson Air Force Base OH. Rees D. W. and Copeland N. K. 1960. Discrimination of differences in mass of weightless objects. WADD Tech rep. 60-601. Wright-Patterson Air Force Base OH.","DOI":"10.1037\/e465142004-001"},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1080\/02724988743000042"},{"key":"e_1_2_1_30_1","volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems. IEEE Computer Society Press","author":"Samur E."},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00160.2007"},{"key":"e_1_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0097-8493(97)00030-7"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.5555\/527216.836006"},{"key":"e_1_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00271.2003"},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1162\/pres.16.3.252"},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.4822-03.2004"},{"key":"e_1_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.3758\/BF03194544"}],"container-title":["ACM Transactions on Applied Perception"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1857893.1857894","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/1857893.1857894","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T12:09:10Z","timestamp":1750248550000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1857893.1857894"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,10]]},"references-count":37,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2010,10]]}},"alternative-id":["10.1145\/1857893.1857894"],"URL":"https:\/\/doi.org\/10.1145\/1857893.1857894","relation":{},"ISSN":["1544-3558","1544-3965"],"issn-type":[{"value":"1544-3558","type":"print"},{"value":"1544-3965","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,10]]},"assertion":[{"value":"2008-07-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2009-11-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2010-11-10","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}