论文/arXiv 2610.21965·13 天前

粘弹性渲染的感知比较：分数阶模型与整数阶模型

研究粘弹性材料触觉渲染的逼真度，比较FO-SLS与整数阶模型，并通过人体实验验证其感知优势。

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原文链接：Perceptual Comparisons of Viscoelastic Renderings: Fractional- vs Integer-Order Models（arXiv 2610.21965 · 发布日期：2026-10-15）

Perceptual Comparisons of Viscoelastic Renderings: Fractional- vs Integer-Order Models

研究粘弹性材料触觉渲染的逼真度，比较FO-SLS与整数阶模型，并通过人体实验验证其感知优势。

核心要点

• 现实触觉渲染需再现蠕变和应力松弛等时间相关行为，其感知收益尚不清楚。
• 比较FO-SLS与SLS、广义Maxwell两类整数阶替代模型的粘弹性渲染真实性。
• 采用物理参考材料最小二乘辨识和人在环定性反馈优化两种参数选择方法。
• 人体实验显示，两种参数设置下FO-SLS均被认为比整数阶模型更真实。

验证范围与局限：验证范围为粘弹性材料蠕变和松弛主导行为的触觉渲染人体实验。

英文摘要 (Abstract)

Realistic haptic rendering of viscoelastic materials requires reproducing time-dependent behaviors such as creep and stress relaxation, which arise from the material's inherent memory effects. Fractional-order viscoelastic models have been shown to capture these dynamics accurately and compactly, but it remains unclear whether their increased fidelity translates into perceptual benefits during haptic interaction. In this work, we investigate whether users perceive fractional-order models as more realistic than conventional integer-order models while rendering viscoelastic materials. We compare the fractional-order standard linear solid (FO-SLS) model with two integer-order alternatives: the 3-parameter SLS model and the 5-parameter generalized Maxwell model. We consider two complementary approaches to optimal parameter selection to evaluate rendering realism from both objective and perceptual perspectives: In the first approach, we determine the model parameters via least-squares based system identification of physical viscoelastic reference materials to establish evaluation baselines. In the second approach, we determine population-level perceptually optimal parameters using a qualitative-feedback-based human-in-the-loop optimization and aggregation method. This method establishes model parameters that maximize perceived realism of viscoelastic behaviors through qualitative evaluations. Human-subject experiments indicate that the FO-SLS model is perceived as significantly more realistic than both integer-order alternatives under both parameter selection approaches. Overall, this study provides experimental evidence that fractional-order viscoelastic models are not only theoretically well-motivated, but also perceptually relevant for realistic haptic rendering of creep- and relaxation-dominated behaviors of viscoelastic materials.

作者：Gorkem Gemalmaz, Harun Tolasa, Volkan Patoğlu

来源

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1. arXiv 2610.21965：Perceptual Comparisons of Viscoelastic Renderings: Fractional- vs Integer-Order Models访问 2026-10-21