Estimation of Torso Vibrotactile Thresholds Using Eccentric Rotating Mass Motors

The characterization of vibrotactile perception is crucial to accurately configure haptic devices and create appropriate stimuli for improving user performance in human-machine interaction systems. This article presents a study aiming to determine the absolute and differential vibrotactile thresholds in different areas of the torso to develop reliable haptic patterns to be displayed using a haptic vest. In the 'absolute threshold' experiment, we measure the minimum detectable vibration using a forced-choice task. Furthermore, in the 'differential threshold' experiment, we measure the minimum frequency change needed for users to discriminate two successive vibrotactile stimuli using a vibration matching task. The first experiment does not show differences between absolute thresholds, opening up the possibility of setting a unique minimal vibration for creating haptic patterns. Similarly, the second experiment does not show differences between differential thresholds. Moreover, as these thresholds follow Weber's law, it is viable to estimate any upper or lower differential threshold for any reference stimulus using a K-value. These results are a first step for creating vibrotactile patterns over the torso with the employed eccentric rotating mass motors. Moreover, the whole study provides a method to obtain these psychophysical values since the usage of different motors can change these results.