Modeling Human Difference Threshold in Perceiving Mechanical Properties From Force.

We discuss an extension of the basic principles underlying the human haptic just noticeable difference (JND) in perceiving a manipulator's mechanical properties from force feedback. Two cases are studied: first, the JND in perceiving the stiffness of manipulators with various masses and, second, the JND in perceiving the damping of a combined mass-spring-damper system with varying stiffness and ma...