Despite the large amount of research on kinesthetic haptic devices and haptic effect modeling, there is limited work assessing the perceived realism of kinesthetic model renderings. Identifying the impact of haptic effect parameters in perceived realism can help to inform the required accuracy of kinesthetic renderings. In this work, we model common kinesthetic haptic effects and evaluate the perceived realism of varying model parameters via a user study. Our results suggest that parameter accuracy requirements to achieve realistic ratings vary depending on the specific haptic parameter.

The testbed consists of real object and haptic rendering interfaces.

Please see the video at 2022 IEEE Haptic Symposium. The paper was selected to present at the plenary session.