Sarac, MineDi Luca, MassimilianoOkamura, Allison M.2023-10-192023-10-1920221978-1-6654-7927-12153-0858https://doi.org/10.1109/IROS47612.2022.9982079https://hdl.handle.net/20.500.12469/5253IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) -- OCT 23-27, 2022 -- Kyoto, JAPANDespite non-co-location, haptic stimulation at the wrist can potentially provide feedback regarding interactions at the fingertips without encumbering the user's hand. Here we investigate how two types of skin deformation at the wrist (normal and shear) relate to the perception of the mechanical properties of virtual objects. We hypothesized that a congruent mapping (i.e. when the most relevant interaction forces during a virtual interaction spatially match the haptic feedback at the wrist) would result in better perception than other mappings.We performed an experiment where haptic devices at the wrist rendered either normal or shear feedback during manipulation of virtual objects with varying stiffness, mass, or friction properties. Perception of mechanical properties was more accurate with congruent skin stimulation than noncongruent. In addition, discrimination performance and subjective reports were positively influenced by congruence. This study demonstrates that users can perceive mechanical properties via haptic feedback provided at the wrist with a consistent mapping between haptic feedback and interaction forces at the fingertips, regardless of congruence.eninfo:eu-repo/semantics/openAccessTouchTouchConference Object620627WOS:00090836820006010.1109/IROS47612.2022.99820792-s2.0-85146358879N/AN/A