Comparison of Parameters of Regression Equations for Estimating the Perceptual Quantity of Pseudo-Haptics

Pseudo-haptics convey force haptics without the use of complex mechanical devices and are being actively researched. However, a regression equation derivation method for estimating the perception produced by pseudo-haptics is yet to be established. In this study, we compared the model parameters (factors) for weightlifting movements, aiming to establish a method for deriving a regression equation to estimate the perception produced by pseudo-haptics. Weight perception produced by pseudo-haptics was determined by changing the control-display (CD) ratio, which is the amount of object movement in virtual reality (display) divided by the amount of object movement in reality (control). The regression equation estimating the perceived weight was derived using factors such as grasping force and electromyogram. The factors used in the derivation were determined based on quality engineering methods, and it was found that factors appropriate for human motor control strategies could be selected. In addition, the investigation provides insights for the realization of applications that can generate continuous pseudo-haptics.