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Psychophysical size discrimination using multi-fingered haptic interfaces

The use of multi-fingered haptic devices can potentially provide users much more realistic interactions in virtual environments compared to single-point contact devices. The usability of multi-fingered devices necessitates the need for an understanding of their performance characteristics. Multiple Phantoms devices were used in psychophysical size discrimination experiments using two and three fingered grasps. The results of these perceptual experiments were found to be comparable to those of single- finger size discrimination studies as well as results obtained via finger-span methods. The findings imply that multi-fingered haptics can accurately replicate reality for tasks such as these. Additionally our findings indicate that a three-fingered haptic grasp can provide better discrimination than a two fingered grasp.