Reality-based modeling of vibrations can be used to enhance the haptic display of hard surfaces in virtual environments. In this work, we propose modifying reality-based vibrations through psychophysical experiments. Virtual vibration models were developed from empirical vibration waveforms measured by tapping on real surfaces with the instrumented stylus of a three degree-of-freedom haptic display. The haptic display was then evaluated on its ability to display the desired waveforms. Psychophysical experiments utilizing the display were performed to evaluate the realism of various vibration parameter values used in the vibration model. From these experiments, it was discovered that the best parameters differed from those of the original reality-based model. Additional experiments verified the effectiveness of vibration feedback by showing that subjects could differentiate between materials in a virtual environment.

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