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This research shows humans can distinguish between joint and endpoint impedances, indicating implications for virtual reality applications in Rheumatoid Arthritis education.
Rendering internal impedances is key for developing immersive experiences in virtual reality (VR). While previous research has primarily focused on the rendering of external impedances, rendering changes to the avatar remains an open question. Changes to the avatar are particularly salient for disease education and fostering empathy in healthcare professionals in conditions such as Rheumatoid Arthritis (RA). As a first step towards this immersive experience, this study explores whether humans can distinguish between joint and endpoint impedances. We developed a novel robotic system (Stiffness Emulation Robot/SER) and a new controller for an existing haptics glove (HaptX G1), and conducted a binary discretion experiment which reveals that the majority of subjects can differentiate the two impedance types.
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Poole et al. (2025) studied this question.
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