The authors report an experiment in which twenty-five participants discriminated force
vectors presented along five directions (up, left, right, diagonally up left, diagonally up right) …

Despite a wealth of literature on discrimination thresholds for displacement, force
magnitude, stiffness, and viscosity, there is currently a lack of data on our ability to …

Although force-feedback devices are already being used, the human ability to perceive
forces has not been documented thoroughly. The haptic perception of force direction and …

In this paper we investigate the accuracy of human perception of haptic force direction
applied to the hand. Haptic interfaces are commonly used in many applications and …

The focus of this research is on the perception and control of forces produced by the hand. It
is known that the change in force that subjects can reliably discriminate is approximately 6 …

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 …

Most studies on the haptic perception of force direction have been conducted without hand
movements, whereas hand movements are normally required in real-world applications …

Haptic interfaces are used increasingly in medical systems and related applications, but
relatively little is known on the effectiveness of these interfaces. This paper reports a study …

The force-constancy hypothesis states that the user of a force-feedback device maintains a
constant penetration force when stroking virtual surfaces in order to perceive their …

Prior research on large-fibre skin mechanoreceptors in humans and monkeys has
demonstrated their sensitivity to perpendicular skin indentation and to the rate of force …