Quantification of Force/Tactile Sensation

The force/tactile sensation (hereafter referred to as f/t sensation) has not been well defined for a long time. In the applications of real haptics, it is necessary quantitatively evaluate quality sensation. paper proposes definition stimulus signal. Accordingly, instantaneous value signal represents simultaneous ratio reaction force and velocity. If contact target modeled an inertia-damper-spring model, expressed equivalent circuit sum impedance (or admittance) voltage source current source). in frequency area clarifies physical meaning. presents experimental results that confirm viability this novel on