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Creating haptic interfaces capable of rendering the rich sensation needed fordexterous manipulation is crucial for the advancement of human-in-the-looptelerobotic systems (HiLTS). One limiting factor has been the absence ofdetailed knowledge of the effect of operator limb dynamics and hapticexploration dynamics on haptic perception. We propose to begin investigationsof these effects with single-joint haptic exploration and feedback of physicaland virtual environments. Here, we present our experimental apparatus, a 1-DoFrotational kinesthetic haptic device and electromyography (EMG) system, alongwith preliminary findings from our efforts to investigate the change instiffness discrimination thresholds for differing exploration velocities.Result trends indicate a possible relationship between exploration velocity anddiscrimination thresholds, as well as a complex interaction between muscleactivation, exploration velocity, and haptic feedback.

Towards an Understanding of the Role Operator Limb Dynamics Plays in Haptic Perception of Stiffness