Object interactions like collisions and friction are associated with predefined sounds, which are modulated depending on interaction parameters, e.g., strength of a collision.
For redundant coding of force information, but also for force-feedback substitution, a force amount can be displayed by modulating the pitch of a synthetic sound signal. Besides, strength of a collision is encoded within the sharpness, i.e. a special kind of a listener's subjective impression of a sound. For this reason, a sinusoidal audio signal is mixed with a rectangular signal in the time domain. The application of force-dependent scaling functions avoids a rise of the sound's volume when raising the sharpness.
At the moment, evaluation of the system is carried out using a testbed consisting of manipulation tasks with varying complexity. As a result, a judging of the implemented methods and a guideline for designing information feedback mechanisms for interactive object manipulations will be achieved.
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