Visual Feedback Weakens the Augmentation of Perceived Stiffness by Artificial Skin Stretch

Tactile stimulation devices are gaining popularity in haptic science and technology – they are lightweight, low-cost, can be easily made wearable, and do not suffer from instability during closed loop interactions with users. Applying tactile stimulation in the form of stretching the skin of the fingerpads, concurrently with kinesthetic force feedback, has been shown to augment the perceived stiffness during interactions with elastic objects. However, all of the studies to date have investigated the perceptual augmentation effects of artificial skin-stretch in the absence of visual feedback. We investigated how visual displacement feedback affects the augmentation of perceived stiffness caused by the skin-stretch. We used a forced-choice paradigm stiffness discrimination task with four different conditions: force feedback, force feedback with artificial skin-stretch, force and visual feedback, and force and visual feedback with artificial skin-stretch. We found that visual displacement feedback weakens the skin-stretch induced perceptual augmentation and improves the stiffness discrimination sensitivity.