A method for the verification of haptic algorithms

Abstract

The number of haptic algorithms has been growing over the past few years. However, little research has been performed in evaluating these algorithms. This paper provides both a theoretical framework and a practical discussion of how the correctness and performance of force-feedback algorithms can be verified. The practical discussion is necessary as the theoretical framework proves that an infinite number of cases should be considered when evaluating a haptic algorithm. However, using statistical techniques, this evaluation can be performed within a reasonable frame of time. The evaluation method in this paper has itself been validated by evaluating two algorithms. From this test, we can conclude that the evaluation method is a reliable method for verifying if haptic algorithms are correct.