{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T10:57:44Z","timestamp":1772794664910,"version":"3.50.1"},"reference-count":31,"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-2006-27141"],"award-info":[{"award-number":["IST-2006-27141"]}],"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>In this article, the data-driven haptic rendering approach presented in our earlier work is assessed. The approach relies on recordings from real objects from which a data-driven model is derived that captures the haptic properties of the object. We conducted two studies. In the first study, the Just Noticeable Difference (JND) for small forces, as encountered in our set-up, was determined. JNDs were obtained both for active and passive user interaction. A conservative threshold curve was derived that was then used to guide the model generation in the second study. The second study examined the achievable rendering fidelity for two objects with different stiffnesses. Subjects directly compared data-driven virtual feedback with the real objects. Results indicated that it is crucial to include dynamic material effects to achieve haptic feedback that cannot be distinguished from real objects. Results also showed that the fidelity is considerably decreased for stiffer objects due to limits of the display hardware.<\/jats:p>","DOI":"10.1145\/1857893.1857900","type":"journal-article","created":{"date-parts":[[2010,11,9]],"date-time":"2010-11-09T13:52:03Z","timestamp":1289310723000},"page":"1-23","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":16,"title":["User-based evaluation of data-driven haptic rendering"],"prefix":"10.1145","volume":"8","author":[{"given":"Raphael","family":"H\u00f6ver","sequence":"first","affiliation":[{"name":"ETHZ, Zurich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Massimiliano Di","family":"Luca","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Biological Cybernetics"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthias","family":"Harders","sequence":"additional","affiliation":[{"name":"ETHZ, Zurich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2010,11,10]]},"reference":[{"key":"e_1_2_1_1_1","volume-title":"Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE","author":"Allin S.","unstructured":"Allin , S. , Matsuoka , Y. , and Klatzky , R . 2002. Measuring just noticeable difference for haptic force feedback: Implications for rehabilitation . In Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE , Los Alamitos, CA, 299--302. Allin, S., Matsuoka, Y., and Klatzky, R. 2002. Measuring just noticeable difference for haptic force feedback: Implications for rehabilitation. In Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE, Los Alamitos, CA, 299--302."},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/3DIM.2007.30"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2007.66"},{"key":"e_1_2_1_4_1","volume-title":"Proceedings of the International Conference on Robotics and Automation. IEEE","author":"Colton M.","unstructured":"Colton , M. and Hollerbach , J . 2007b. Reality-based haptic force models of buttons and switches . In Proceedings of the International Conference on Robotics and Automation. IEEE , Los Alamitos, CA, 497--502. Colton, M. and Hollerbach, J. 2007b. Reality-based haptic force models of buttons and switches. In Proceedings of the International Conference on Robotics and Automation. IEEE, Los Alamitos, CA, 497--502."},{"key":"e_1_2_1_5_1","first-page":"11","article-title":"Woodworth and Schlosberg's Experimental Psychology. Holt, Rinehart and Winston","author":"Engen T.","year":"1971","unstructured":"Engen , T. 1971 . Woodworth and Schlosberg's Experimental Psychology. Holt, Rinehart and Winston , Geneva , IL , 11 -- 46 . Engen, T. 1971. Woodworth and Schlosberg's Experimental Psychology. Holt, Rinehart and Winston, Geneva, IL, 11--46.","journal-title":"Geneva"},{"key":"e_1_2_1_6_1","volume-title":"Psychophysics: Method, Theory, and Application","author":"Gescheider G. A.","year":"1985","unstructured":"Gescheider , G. A. 1985 . Psychophysics: Method, Theory, and Application . Lawrence Erlbaum Associates , New York , 1--36. Gescheider, G. A. 1985. Psychophysics: Method, Theory, and Application. Lawrence Erlbaum Associates, New York, 1--36."},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/VR.2006.15"},{"key":"e_1_2_1_8_1","volume-title":"Proceedings of the International Conference on Acoustics, Speech, and Signal Processing. IEEE","author":"Hinterseer P.","unstructured":"Hinterseer , P. , Steinbach , E. , Hirche , S. , and Buss , M . 2005. A novel, psychophysically motivated transmission approach for haptic data streams in telepresence and teleaction systems . In Proceedings of the International Conference on Acoustics, Speech, and Signal Processing. IEEE , Los Alamitos, CA, 1097--1100. Hinterseer, P., Steinbach, E., Hirche, S., and Buss, M. 2005. A novel, psychophysically motivated transmission approach for haptic data streams in telepresence and teleaction systems. In Proceedings of the International Conference on Acoustics, Speech, and Signal Processing. IEEE, Los Alamitos, CA, 1097--1100."},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1162\/pres.16.5.523"},{"key":"e_1_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2009.4810814"},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTICS.2008.4479943"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2009.2"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00228884"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1068\/p180681"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-003-1622-2"},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2005.52"},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2006.32"},{"key":"e_1_2_1_18_1","volume-title":"Proceedings of the 1st Joint EuroHaptic Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Sysetems. IEEE","author":"Leskovsky P.","unstructured":"Leskovsky , P. , Cooke , T. , Ernst , M. , and Harders , M . 2006. Using multidimensional scaling to quantify the fidelity of haptic rendering of deformable objects . In Proceedings of the 1st Joint EuroHaptic Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Sysetems. IEEE , Los Alamitos, CA, 289--295. Leskovsky, P., Cooke, T., Ernst, M., and Harders, M. 2006. Using multidimensional scaling to quantify the fidelity of haptic rendering of deformable objects. In Proceedings of the 1st Joint EuroHaptic Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Sysetems. IEEE, Los Alamitos, CA, 289--295."},{"key":"e_1_2_1_19_1","unstructured":"Luce R. Bush R. and Galanter E. 1963. Handbook of Mathematical Psychology. Wiley and Sons Inc. New York.  Luce R. Bush R. and Galanter E. 1963. Handbook of Mathematical Psychology. Wiley and Sons Inc. New York."},{"key":"e_1_2_1_20_1","volume-title":"Proceedings of Dynamic Systems and Control Division. ASME","author":"MacLean K.","year":"1996","unstructured":"MacLean , K. 1996 . The \u201chaptic camera\u201d: A technique for characterizing and playing back haptic properties of real environments . In Proceedings of Dynamic Systems and Control Division. ASME , New York, 459--467. MacLean, K. 1996. The \u201chaptic camera\u201d: A technique for characterizing and playing back haptic properties of real environments. In Proceedings of Dynamic Systems and Control Division. ASME, New York, 459--467."},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.3758\/BF03205509"},{"key":"e_1_2_1_22_1","volume-title":"Proceedings of the 2003 International Conference on Robotics and Automation. IEEE","author":"Okamura A.","unstructured":"Okamura , A. , Webster , R. , Nolin , J. , Johnson , K. , and Jafry , H . 2003. The haptic scissors: Cutting in virtual environments . In Proceedings of the 2003 International Conference on Robotics and Automation. IEEE , Los Alamitos, CA, 828--833. Okamura, A., Webster, R., Nolin, J., Johnson, K., and Jafry, H. 2003. The haptic scissors: Cutting in virtual environments. In Proceedings of the 2003 International Conference on Robotics and Automation. IEEE, Los Alamitos, CA, 828--833."},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.3758\/BF03212187"},{"key":"e_1_2_1_24_1","volume-title":"Proceedings of the ASME Dynamic Systems and Control Division","volume":"67","author":"Richard C.","year":"1999","unstructured":"Richard , C. , Cutkosky , M. , and MacLean , K. 1999 . Friction identification for haptic display . In Proceedings of the ASME Dynamic Systems and Control Division , vol. 67 . ASME, New York, 327--334. Richard, C., Cutkosky, M., and MacLean, K. 1999. Friction identification for haptic display. In Proceedings of the ASME Dynamic Systems and Control Division, vol. 67. ASME, New York, 327--334."},{"key":"e_1_2_1_25_1","first-page":"77","article-title":"Weber fractions for weight and mass as a function of stimulus intensity","volume":"39","author":"Ross H. E.","year":"1987","unstructured":"Ross , H. E. and Brodie , E. E. 1987 . Weber fractions for weight and mass as a function of stimulus intensity . Exp. Psych. 39 , 77 -- 88 . Ross, H. E. and Brodie, E. E. 1987. Weber fractions for weight and mass as a function of stimulus intensity. Exp. Psych. 39, 77--88.","journal-title":"Exp. Psych."},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.5555\/1135770.1136076"},{"key":"e_1_2_1_27_1","unstructured":"SensAble. 2009. http:\/\/www.sensable.com\/ visited 09\/2009.  SensAble. 2009. http:\/\/www.sensable.com\/ visited 09\/2009."},{"key":"e_1_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2007.27"},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2009.23"},{"key":"e_1_2_1_30_1","doi-asserted-by":"crossref","unstructured":"Tan H. Z. Durlach N. I. Beauregard G. L. and Srinivasan M. A. 1995. Manual discrimination of compliance using active pinch grasp: The roles of force and work cues. Perception and Psychophysics. Vol. 57. 495--510.  Tan H. Z. Durlach N. I. Beauregard G. L. and Srinivasan M. A. 1995. Manual discrimination of compliance using active pinch grasp: The roles of force and work cues. Perception and Psychophysics. Vol. 57. 495--510.","DOI":"10.3758\/BF03213075"},{"key":"e_1_2_1_31_1","volume-title":"De subtilitate tactus - The sense of touch (translated original from","author":"Weber E. H.","year":"1834","unstructured":"Weber , E. H. 1978. De subtilitate tactus - The sense of touch (translated original from 1834 ). Academic Press , London . Weber, E. H. 1978. De subtilitate tactus - The sense of touch (translated original from 1834). Academic Press, London."}],"container-title":["ACM Transactions on Applied Perception"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1857893.1857900","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/1857893.1857900","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\/1857893.1857900"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,10]]},"references-count":31,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2010,10]]}},"alternative-id":["10.1145\/1857893.1857900"],"URL":"https:\/\/doi.org\/10.1145\/1857893.1857900","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":"2009-09-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2010-02-01","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"}}]}}