Preference-Based Human-in-the-Loop Optimization for Perceived Realism of Haptic Rendering.

The fidelity of haptic rendering is characterized by the perceived realism capturing the level of similarity to a corresponding tangible object. Perceived realism depends on the musculoskeletal, mental, and perceptual properties of the individuals that manipulate the system. Human-in-the-loop (HiL) studies provide a feasible means for the concurrent optimization of the performance of the overall haptic rendering process, as the physical limitations of the hardware, the factors affecting the fidelity of the rendering algorithm, and the limitations of human action and perception can all be considered simultaneously.