Development and evaluation of a thermal model for haptic interfaces

Abstract

The thermal interaction between the skin and an object is influenced by the thermal properties and initial temperatures of the skin and object, and by the contact force and surface roughness of the contact surfaces. This thermal interaction is modeled in this research which characterizes the transient thermal responses during contact. The thermal model was evaluated in psychophysical and physiological experiments by determining whether simulated thermal feedback generated based on the model was capable of conveying information to users that was similar to that provided by real materials, and by comparing the temperature responses of the skin predicted by the model and elicited by real materials. In order to obtain precise skin temperature measurements, an infrared thermal measurement system was designed to overcome the limitations imposed by thermal sensors and to determine the influence of contact pressure on the skin temperature responses during contact. The results from the psychophysical and physiological experiments validated the thermal model proposed in this research within the typical contact force range of manual exploration. A thermal display based on this model is able to convey thermal cues that can be used to perceive and identify objects as effectively as those provided by real materials.