Friction modeling and display in haptic applications involving user performance

We review the state of the art in friction estimation and rendering for haptic interfaces and present a method based on a modified Karnopp friction model. We illustrate some of the advantages of this approach and show how it can be used to create accurate and convincing displays of sliding friction, including pre-sliding displacement and stick-slip behavior. We also present the results of human performance experiments in targeting tasks and show that real and simulated friction produce essentially the same results. In both cases, moderate low-stiction friction can improve performance and high stiction degrades it.