Comparing the Perceived Intensity of Vibrotacitle Cues Scaled Based on Inherent Dynamic Range

Wearable devices increasingly incorporate vibrotactile feedback notifications to users, which are limited by the frequency-dependent response characteristics of the low-cost actuators that they employ. To increase the range and type of information that can be conveyed to users via vibration feedback, it is crucial to understand user perception of vibration cue intensity across the narrow range of frequencies that these actuators operate. In this paper, we quantify user perception of vibration cues conveyed via a linear resonant actuator embedded in a bracelet interface using two psychophysical experiments. We also experimentally determine the frequency response characteristics of the wearable device. We then compare user perceived intensity of vibration cues delivered by the bracelet when the cues undergo frequency-specific amplitude modulation based on user perception compared to modulation based on the experimental or manufacturer-reported characterization of the actuator dynamic response. For applications in which designers rely on user perception of cue amplitudes across frequencies to be equivalent, it is recommended that a perceptual calibration experiment be conducted to determine appropriate modulation factors. For applications in which only relative perceived amplitudes are important, basing amplitude modulation factors on manufacturer data or experimentally determined dynamic response characteristics of the wearable device should be sufficient.