Full-body haptic suits, which can provide tactile sensations across the entire body, have been gaining popularity recently. The tightness of a suit to the user's body determines the contact force between the tactile actuators and the body. The contact force is likely to alter the intended perceptual effects, but relatively little is known about the extent of the alteration. Under this context, we present the effects of contact force on vibrotactile perceived intensity on three body parts: dorsal hand, upper arm, and lower back. To this end, we conducted three perceptual magnitude estimation experiments while controlling vibration amplitude, frequency, and contact force. The results show that increasing the contact force generally made the vibration stimuli feel stronger, while the specific behaviors were dependent on the body part and the experimental variables. Finally, we summarize the major findings and provide guidelines regarding contact force adjustment for effective full-body haptic rendering.

中文翻译：

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接触力对上身振动触觉感知强度的影响

全身触觉套装可以提供整个身体的触觉感觉，最近越来越受欢迎。衣服与用户身体的紧密程度决定了触觉执行器与身体之间的接触力。接触力可能会改变预期的感知效果，但人们对改变的程度知之甚少。在此背景下，我们提出了接触力对三个身体部位的振动触觉感知强度的影响：手背、上臂和下背部。为此，我们在控制振动幅度、频率和接触力的同时进行了三个感知幅度估计实验。结果表明，增加接触力通常会使振动刺激感觉更强，而具体行为取决于身体部位和实验变量。最后，我们总结了主要发现，并提供了有关有效全身触觉渲染的接触力调整的指南。