{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,2]],"date-time":"2025-03-02T05:34:20Z","timestamp":1740893660230,"version":"3.38.0"},"reference-count":35,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2000,7,1]],"date-time":"2000-07-01T00:00:00Z","timestamp":962409600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,7]]},"abstract":"<jats:p> In this paper, we present the results of experiments that explore the ability of the human fingertip to detect haptically simulated first-order and second-order surface discontinuities. A single finger, planar motion fingertip haptic display (FHD) developed at the University of Washington was used by multiple test operators to kinesthetically trace haptically simulated surfaces under a variety of treatment conditions. Experiment variables included the magnitude and type of discontinuity, as well as the stiffness and damping terms used in the haptic simulation algorithm. Test operators were asked to haptically locate a discontinuity on a simulated surface for each treatment condition with the location accuracy being used as the experiment performance metric. The results reveal how the surface discontinuity detection ability is degraded by control gains that are either too low or too high, indicating that a given haptic simulation system may have an optimum set of control gains that will yield the best performance for this type of task. <\/jats:p>","DOI":"10.1177\/027836490001900705","type":"journal-article","created":{"date-parts":[[2004,12,18]],"date-time":"2004-12-18T01:23:10Z","timestamp":1103332990000},"page":"684-696","source":"Crossref","is-referenced-by-count":11,"title":["Experiments in Fingertip Perception of Surface Discontinuities"],"prefix":"10.1177","volume":"19","author":[{"given":"Steven C.","family":"Venema","sequence":"first","affiliation":[]},{"given":"Blake","family":"Hannaford","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Department of Electrical Engineering, University                         of Washington, Seattle. Washington 98195-2500, USA"}]}],"member":"179","published-online":{"date-parts":[[2000,7,1]]},"reference":[{"unstructured":"Adams, R. J., and Hannaford, B. 1998. A two-port frame-work for the design of unconditionally stable haptic interfaces . Proc. 1998 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS-98), Anaheim, CA, November.","key":"atypb1"},{"doi-asserted-by":"publisher","key":"atypb2","DOI":"10.2307\/1421166"},{"doi-asserted-by":"publisher","key":"atypb3","DOI":"10.1109\/38.41470"},{"doi-asserted-by":"crossref","unstructured":"Colgate, J. E., Stannley, M. C., Brown, J. M. 1995. Issues in the Haptic display of tool use . Proc. 1995 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS-95), August, 3: 140-145 .","key":"atypb4","DOI":"10.1109\/IROS.1995.525875"},{"doi-asserted-by":"crossref","unstructured":"Crewdson, J., and Zangwill, O. L. 1940. A note on tactual perception in a blind subject . British Journal of Psychology 30: 224-229 .","key":"atypb5","DOI":"10.1111\/j.2044-8295.1940.tb00957.x"},{"doi-asserted-by":"publisher","key":"atypb6","DOI":"10.1037\/h0032632"},{"doi-asserted-by":"publisher","key":"atypb7","DOI":"10.1037\/h0036245"},{"doi-asserted-by":"publisher","key":"atypb8","DOI":"10.3758\/BF03212816"},{"doi-asserted-by":"crossref","unstructured":"Goodwin, A. W., John, K. T., and Marceglia, A. H. 1991. Tactile discrimination of curvature by humans using only cutaneous information from the fingerpads . Experimental Brain Research 86: 663-672 .","key":"atypb9","DOI":"10.1007\/BF00230540"},{"doi-asserted-by":"crossref","unstructured":"Goodwin, A. W., and Wheat, H. E. 1992. Human tactile discrimination of curvature when contact area with skin remains constant . Experimental Brain Research 88: 446-450 .","key":"atypb10","DOI":"10.1007\/BF02259120"},{"doi-asserted-by":"publisher","key":"atypb11","DOI":"10.3758\/BF03204854"},{"unstructured":"Gordon, J., and Ghez, C. 1991. Muscle receptors and spinal reflexes: The stretch reflex. In Principles of Neural Science, 3d ed. ed. E. R. Kandel, J. H. Schwartz, and T. M. Jesseli. Englewood Cliffs, NJ: Prentice Hall .","key":"atypb12"},{"doi-asserted-by":"publisher","key":"atypb13","DOI":"10.3758\/BF03205835"},{"doi-asserted-by":"publisher","key":"atypb14","DOI":"10.1101\/SQB.1990.055.01.086"},{"doi-asserted-by":"publisher","key":"atypb15","DOI":"10.1080\/17470215408416660"},{"doi-asserted-by":"publisher","key":"atypb16","DOI":"10.1068\/p250739"},{"doi-asserted-by":"publisher","key":"atypb17","DOI":"10.3758\/BF03211690"},{"doi-asserted-by":"publisher","key":"atypb18","DOI":"10.1068\/p231483"},{"doi-asserted-by":"publisher","key":"atypb19","DOI":"10.1017\/S0263574700015551"},{"doi-asserted-by":"publisher","key":"atypb20","DOI":"10.3758\/BF03211752"},{"doi-asserted-by":"publisher","key":"atypb21","DOI":"10.1068\/p270737"},{"doi-asserted-by":"crossref","unstructured":"Lawrence, D. A., Pao, L. Y., Salada, M. A., and Dougherty, A. M. 1996. Quantitative experimental analysis of transparency and stability in haptic interfaces . Proc. Fifth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME Winter Annual Meeting, Atlanta, GA, November.","key":"atypb22","DOI":"10.1115\/IMECE1996-0368"},{"doi-asserted-by":"publisher","key":"atypb23","DOI":"10.1037\/0096-1523.23.6.1680"},{"unstructured":"Mortenson, M. E. 1997. Geometric Modeling, 2d ed. New York: Wiley Computer .","key":"atypb24"},{"doi-asserted-by":"publisher","key":"atypb25","DOI":"10.1109\/ROBOT.1999.774042"},{"doi-asserted-by":"crossref","unstructured":"Pawluk, D.T.V., and Howe, R. D. 1996. A holistic model of human touch . Proc. of the 5th Annual Computational Neuroscience Society Meeting, Boston, MA, July.","key":"atypb26","DOI":"10.1007\/978-1-4757-9800-5_118"},{"unstructured":"Rabischong, P. 1981. Physiology of sensation. In The Hand, ed. Raoul Tubiana, I:441-467. Philadelphia: W. B. Saunders .","key":"atypb27"},{"doi-asserted-by":"publisher","key":"atypb28","DOI":"10.1016\/S0001-6918(36)90056-2"},{"doi-asserted-by":"publisher","key":"atypb29","DOI":"10.1016\/0001-6918(74)90017-1"},{"doi-asserted-by":"crossref","unstructured":"Tan, H. Z. 1997. Identification of sphere size using the Phan-tom: Towards a set of building blocks for rendering haptic environment . Proc. ASME Dynamic Systems and Control Division, Dallas, TX, pp. 197-203 .","key":"atypb30","DOI":"10.1115\/IMECE1997-0397"},{"doi-asserted-by":"crossref","unstructured":"Veltkamp, R. C. 1992. Survey of continuities of curves and surfaces . Computer Graphics Forum 11(2): 93-112 .","key":"atypb31","DOI":"10.1111\/1467-8659.1120093"},{"unstructured":"Venema, S. C. 1999 (April). Experiments in Surface Perception Using a Haptic Display. Ph.D. thesis, Department of Electrical Engineering, University of Washington, Seattle.","key":"atypb32"},{"doi-asserted-by":"publisher","key":"atypb33","DOI":"10.1068\/p250109"},{"doi-asserted-by":"crossref","unstructured":"West, A. M., and Cutkosky, M. R. 1997. Detection of real and virtual fine surface features with a haptic interface and stylus . Proc. ASME Dynamic Systems and Control Division, Dallas, TX, pp. 159-165 .","key":"atypb34","DOI":"10.1115\/IMECE1997-0391"},{"doi-asserted-by":"crossref","unstructured":"Zilles, C. B., and Salisbury, J. K. 1995. A constraintbased god-object method for haptic display . Proc. 1995 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS-95), August, 3: 146-151 .","key":"atypb35","DOI":"10.1109\/IROS.1995.525876"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836490001900705","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836490001900705","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T08:53:43Z","timestamp":1740819223000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836490001900705"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2000,7]]},"references-count":35,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2000,7]]}},"alternative-id":["10.1177\/027836490001900705"],"URL":"https:\/\/doi.org\/10.1177\/027836490001900705","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2000,7]]}}}