Pseudo-haptic techniques are used to modify haptic perception by appropriately changing visual feedback to body movements. Based on the knowledge that tendon vibration can affect our somatosensory perception, this paper proposes a method for leveraging tendon vibration to enhance pseudo-haptics during free arm motion. Three experiments were performed to examine the impact of tendon vibration on the range and resolution of pseudo-haptics. The first experiment investigated the effect of tendon vibration on the detection threshold of the discrepancy between visual and physical motion. The results indicated that vibrations applied to the inner tendons of the wrist and elbow increased the threshold, suggesting that tendon vibration can augment the applicable visual motion gain by approximately 13\% without users detecting the visual/physical discrepancy. Furthermore, the results demonstrate that tendon vibration acts as noise on haptic motion cues. The second experiment assessed the impact of tendon vibration on the resolution of pseudo-haptics by determining the just noticeable difference in pseudo-weight perception. The results suggested that the tendon vibration does not largely compromise the resolution of pseudo-haptics. The third experiment evaluated the equivalence between the weight perception triggered by tendon vibration and that by visual motion gain, that is, the point of subjective equality. The results revealed that vibration amplifies the weight perception and its effect was equivalent to that obtained using a gain of 0.64 without vibration, implying that the tendon vibration also functions as an additional haptic cue. Our results provide design guidelines and future work for enhancing pseudo-haptics with tendon vibration.
HapticLDM: A Diffusion Model for Text-to-Vibrotactile Generation
Technology Development Center, Guangzhou Shiyuan Electronic Technology Company Limited（广州仕元电子技术有限公司技术发展中心）；School of Automation and Intelligence, Beijing Jiaotong University（北京交通大学自动化与智能学院）；Department of Architecture, University of California, Berkeley（加州大学伯克利分校建筑系）；School of Electronic Science and Engineering, Nanjing University（南京大学电子科学与技术学院）
