粘弾性レンダリングの知覚比較：分数次モデル対整数次モデル
Perceptual Comparisons of Viscoelastic Renderings: Fractional- vs Integer-Order Models
粘弾性材料の触覚提示において、分数次粘弾性モデルが従来の整数次モデルより知覚的にリアルかを人間参加者実験で比較した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Gorkem Gemalmaz, Harun Tolasa, Volkan Patoglu
分類: cs.RO, eess.SY
原文アブストラクト
Realistic haptic rendering of viscoelastic materials requires reproducing time-dependent behaviors such as creep and stress relaxation, which arise from the material's inherent memory effects. Fractional-order viscoelastic models have been shown to capture these dynamics accurately and compactly, but it remains unclear whether their increased fidelity translates into perceptual benefits during haptic interaction. In this work, we investigate whether users perceive fractional-order models as more realistic than conventional integer-order models while rendering viscoelastic materials. We compare the fractional-order standard linear solid (FO-SLS) model with two integer-order alternatives: the 3-parameter SLS model and the 5-parameter generalized Maxwell model. We consider two complementary approaches to optimal parameter selection to evaluate rendering realism from both objective and perceptual perspectives: In the first approach, we determine the model parameters via least-squares based system identification of physical viscoelastic reference materials to establish evaluation baselines. In the second approach, we determine population-level perceptually optimal parameters using a qualitative-feedback-based human-in-the-loop optimization and aggregation method. This method establishes model parameters that maximize perceived realism of viscoelastic behaviors through qualitative evaluations. Human-subject experiments indicate that the FO-SLS model is perceived as significantly more realistic than both integer-order alternatives under both parameter selection approaches. Overall, this study provides experimental evidence that fractional-order viscoelastic models are not only theoretically well-motivated, but also perceptually relevant for realistic haptic rendering of creep- and relaxation-dominated behaviors of viscoelastic materials.