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Despite non-co-location, haptic stimulation at the wrist can potentiallyprovide feedback regarding interactions at the fingertips without encumberingthe user's hand. Here we investigate how two types of skin deformation at thewrist (normal and shear) relate to the perception of the mechanical propertiesof virtual objects. We hypothesized that a congruent mapping between force atthe fingertips and deformation at the wrist would be better, i.e. mappingfinger normal force to skin indentation at the wrist, and shear force to skinshear at the wrist, would result in better perception than other mappings thateither mixed or merged the two direction into a single type of feedback. Weperformed an experiment where haptic devices at the wrist rendered eithernormal or shear feedback during manipulation of virtual objects with varyingstiffness, mass, or friction properties. Perception of mechanical propertieswas more accurate with congruent skin stimulation than noncongruent. Inaddition, discrimination performance and subjective reports were positivelyinfluenced by congruence. This study demonstrates that users can perceivemechanical properties via haptic feedback provided at the wrist with aconsistent mapping between haptic feedback and interaction forces at thefingertips, regardless of congruence.

Perception of Mechanical Properties via Wrist Haptics: Effects of Feedback Congruence