PseudoBend: Producing Haptic Illusions of Stretching, Bending, and Twisting Using Grain Vibrations
summary
PseudoBend produces illusions of stretching, bending, and twisting by mapping force/torque changes to discrete vibration events using a single 6-DOF force sensor plus a vibrotactile actuator and Teensy DAC, in a 140 g handheld device with loop latency under 5 ms. Grain pulses are a 205 Hz grain vibration (decaying sine) and a 100 Hz 20 ms bottom‑out pulse. Psychophysics show detection thresholds (<8 N stretch, 0.125 N·m bend, 0.03 N·m twist) and large JNDs (~114–162%) and wide perceived ranges across users; hardware and code are open source.
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chapters (10)
- 0:00Introduction and motivation
- 1:09Previous haptic deformation work
- 2:19Grain vibration illusion concept
- 4:31Modeling deformation with Hooke's Law
- 6:48Controlling perceived stiffness
- 8:03Prototype device details
- 9:28Psychophysical experiments overview
- 12:41Deformation range perception results
- 14:33Summary and open-source release
- 15:35Q&A session
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