Application-based evaluation of haptic interfaces

A taxonomy of haptic modes is proposed as a basis for evaluating haptic interfaces. Haptic modes are defined as distinct styles of using haptic perception for purposeful activity. An evaluation method that exercises a single haptic mode tests the hardware and software of the interface on a task that has a clear relationship to actual applications. To demonstrate this approach to evaluation, the mode of geometric perception was evaluated for a point force device. Twelve observers performed a shape recognition task using a PHANToM display. The task proved difficult, with a mean recognition time of 22 s. This class of devices does not appear to support adequate performance for applications that require geometric perception. The paper concludes with possible extensions to both the shape recognition protocol and the taxonomy of modes