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Abstract The notion of haptic transparency is used to quantify the fidelity with which virtual object properties are presented to, and perceived by, the human operator. Experimental results are presented quantifying the ability of humans to detect differences in mechanical impedances representing typical types of impedance corruption (loss of transparency) encountered in haptic interfaces due to stability-enhancing dynamic compensation. In particular, a poor connection is found between the stiffness of virtual walls and their perceptual “hardness”, prompting a new definition of hardness which is often dominated by the high frequency dynamics of the rendered impedance.
Lawrence et al. (Sun,) studied this question.