The contribution of cutaneous and kinesthetic sensory modalities in haptic perception of orientation

Cyclic relationship of mechanical likelihood: Coupling perception-action states in extended haptic accuracy

The present study investigates the dynamic nature of haptic accuracy in racket sports, specifically focusing on self-produced movements in participants with different skill levels (novice vs. expert). The study examines performance accuracy using indicators such as absolute error size and the coefficient of restitution as measures of haptic accuracy. To collect and analyze the data, custom-made devices, including shock and vibration sensors and Qualisys Track Manager, were used. The results indicate that skilled participants demonstrated higher accuracy, reflected by smaller absolute error sizes, and exhibited reduced variability in impulse vibration during self-produced movements. Moreover, employing maximum likelihood estimation and differential equations, we reveal cyclic relationships among these mechanical features. These findings provide valuable insights into perception-action coupling within different haptic skill levels, contributing to a comprehensive understanding of expertise in racket sports. By shedding light on the intricate relationship between haptic accuracy and performance, this research offers a valuable framework for studying perception-action coupling in racket sports and can potentially guide future investigations.

Anatomical Engineering and 3D Printing for Surgery and Medical Devices: International Review and Future Exponential Innovations

Three-dimensional printing (3DP) has recently gained importance in the medical industry, especially in surgical specialties. It uses different techniques and materials based on patients' needs, which allows bioprofessionals to design and develop unique pieces using medical imaging provided by computed tomography (CT) and magnetic resonance imaging (MRI). Therefore, the Department of Biology and Medicine and the Department of Physics and Engineering, at the Bioastronautics and Space Mechatronics Research Group, have managed and supervised an international cooperation study, in order to present a general review of the innovative surgical applications, focused on anatomical systems, such as the nervous and craniofacial system, cardiovascular system, digestive system, genitourinary system, and musculoskeletal system. Finally, the integration with augmented, mixed, virtual reality is analyzed to show the advantages of personalized treatments, taking into account the improvements for preoperative, intraoperative planning, and medical training. Also, this article explores the creation of devices and tools for space surgery to get better outcomes under changing gravity conditions.

Perception by Palpation: Development and Testing of a Haptic Ferrogranular Jamming Surface

Tactile hands-only training is particularly important for medical palpation. Generally, equipment for palpation training is expensive, static, or provides too few study cases to practice on. We have therefore developed a novel haptic surface concept for palpation training, using ferrogranular jamming. The concept’s design consists of a tactile field spanning 260 x 160 mm, and uses ferromagnetic granules to alter shape, position, and hardness of palpable irregularities. Granules are enclosed in a compliant vacuum-sealed chamber connected to a pneumatic system. A variety of geometric shapes (output) can be obtained by manipulating and arranging granules with permanent magnets. The tactile hardness of the palpable output can be controlled by adjusting the chamber’s vacuum level. A psychophysical experiment (N = 28) investigated how people interact with the palpable surface and evaluated the proposed concept. Untrained participants characterized irregularities with different position, form, and hardness through palpation, and their performance was evaluated. A baseline (no irregularity) was compared to three irregularity conditions: two circular shapes with different hardness (Hard Lump and Soft Lump), and an Annulus shape. 100% of participants correctly identified an irregularity in the three irregularity conditions, whereas 78.6% correctly identified baseline. Overall agreement between participants was high (κ= 0.723). The Intersection over Union (IoU) for participants sketched outline over the actual shape was IoU Mdn = 79.3% for Soft Lump, IoU Mdn = 68.8% for Annulus, and IoU Mdn = 76.7% for Hard Lump. The distance from actual to drawn center was Mdn = 6.4 mm (Soft Lump), Mdn = 5.3 mm (Annulus), and Mdn = 7.4 mm (Hard Lump), which are small distances compared to the size of the field. The participants subjectively evaluated Soft Lump to be significantly softer than Hard Lump and Annulus. Moreover, 71% of participants thought they improved their palpation skills throughout the experiment. Together, these results show that the concept can render irregularities with different position, form, and hardness, and that users are able to locate and characterize these through palpation. Participants experienced an improvement in palpation skills throughout the experiment, which indicates the concepts feasibility as a palpation training device.

Neural Signatures of Interface Errors in Remote Agent Manipulation

The manipulation of remote agents such as robotic arms in remote surgery or in BCI-wheelchair control are prone to errors. Some of these are related to user intent misclassification or other interface system errors, which lead to an incorrect movement. Here we focused on errors originating from unpredicted interface movements violating user intent and producing sensory conflicts. In addition, we examined effects of incongruent/congruent sensory stimuli induced by interface errors, focusing on haptic and visual cues in the system. The overarching goal was to identify the prototypical patterns of electroencephalogram (EEG) error signals associated with two types of interface errors rising when the visual and proprioceptive feedback are congruent or incongruent. For purposes of comparison validity, both types of errors were recorded in the same 3D virtual game environment. The comparison of congruent and incongruent interface errors revealed significant and marginally significant differences in EEG potentials with respect to profile, latencies, scalp distribution and sources. Different EEG time-frequency combinations had high power content. Incongruence between visual and proprioceptive feedback in interface errors not only elicited distinct EEG signal characteristics, but also produced a marginally significant Stroop effect. Incongruency in visuo-haptic feedback modalities cause a delayed user response. This effect is of major importance for the design of controlling interfaces and can provide designers with crucial information when aiming to control human response time.

Haptic Glove Using Tendon-Driven Soft Robotic Mechanism

Recent advancements in virtual reality and augmented reality call for light-weight and compliant haptic interfaces to maximize the task-performance interactivity with the virtual or extended environment. Noting this, we propose a haptic glove using a tendon-driven compliant robotic mechanism. Our proposed interface can provide haptic feedback to two fingers of a user, an index finger and a thumb. It can provide both cutaneous and kinesthetic feedback to the fingers by using the tendon-driven system. Each actuator is paired with a force sensor to exert the desired tension accurately. In order to optimize the perception of the kinesthetic feedback, we propose a perception-based kinesthetic feedback distribution strategy. We experimentally measured the force perception weight for peripheral interphalangeal (PIP) and metacarpophalangeal (MCP) joints. We observed no significant difference in the force perception between the two joints. Then, based on the obtained weights, our proposed force distribution method calculates the force for each joint. We also evaluated the effect of additional cutaneous feedback to the kinesthetic feedback, on the force perception at the fingertip. The experimental result has shown that additional cutaneous feedback has significantly increased the sensitivity of the human perception. Finally, we evaluated our proposed system and force distribution algorithm by conducting a human subject test. The experimental result indicates that the availability of the cutaneous feedback significantly improved the perceived realism and acuity of the contact force.

Influence of Sparse Contact Point and Finger Penetration in Object on Shape Recognition

Making a virtual object shape recognizable using a haptic display is one of the major themes of haptic research. In previous works, multipoint haptic displays have been developed that had a high contact point density between the users' finger skin and the virtual object. However, the ideal contact point density that enables intuitive shape recognition has not been determined yet. Meanwhile, there is also a fundamental problem; that is, real fingers and virtual objects do penetrate, which cannot be solved with such wearable displays. This article investigated the influence of both contact point density and penetration on the shape recognition performance. We prepared a real testing environment where the user touched the real object, and where we could simulate both the sparse contact point and the penetration. Specifically, users' fingers wore thin film coated with glass particles and they touched the urethane foams that deformed flexibly. The result of experiments showed a broad trend where the sparseness of the contact and the softness of the object influenced the exploration time required to achieve recognition. In addition, the result suggested that the larger contact density could make up for the problem of penetration. We confirmed it by conducting two different tasks: (1) exploring the object surface with the index finger and (2) grasping the object surface with the thumb and the index finger.

Effect of Cutaneous Feedback on the Perception of Virtual Object Weight during Manipulation

Haptic interface technologies for virtual reality applica have been developed to increase the reality and manipulability of a virtual object by creating a diverse tactile sensation. Most evaluation of the haptic technologies, however, have been limited to the haptic perception of the tactile stimuli via static virtual objects. Noting this, we investigated the effect of lateral cutaneous feedback, along with kinesthetic feedback on the perception of virtual object weight during manipulation. We modeled the physical interaction between a participant’s finger avatars and virtual objects. The haptic stimuli were rendered with custom-built haptic feedback systems that can provide kinesthetic and lateral cutaneous feedback to the participant. We conducted two virtual object manipulation experiments, 1. a virtual object manipulation with one finger, and 2. the pull-out and lift-up of a virtual object grasped with a precision grip. The results of Experiment 1 indicate that the participants felt the virtual object rendered with lateral cutaneous feedback significantly heavier than with only kinesthetic feedback (p < 0.05 for m_ref = 100 and 200 g). Similarly, the participants of Experiment 2 felt the virtual objects significantly heavier when lateral cutaneous feedback was available (p < 0.05 for m_ref = 100, 200, and 300 g). Therefore, the additional lateral cutaneous feedback to the force feedback led the participants to feel the virtual object heavier than without the cutaneous feedback. The results also indicate that the contact force applied to a virtual object during manipulation can be a function of the perceived object weight p = 0.005 for Experiment 1 and p = 0.2 for Experiment 2.

Somatic perception of floor inclination

We investigated somatically perceived inclination of a floor on which an observer was. In the first three experiments, using blindfolded observers, we determined the point of subjective equality (PSE) and the difference limen (DL) for horizontal floor. Orientation of the lying body relative to the axis around which the floor was rotated, distance of the lying body from the rotation axis, posture (standing, sitting, and lying), and age were varied. In the fourth experiment, effects of seeing the floor were examined. The mean PSEs were accurate within ±0.25° in all experiments. The mean DLs varied with condition: 1) The largest DLs were obtained for the blindfolded observers lying orthogonally or obliquely to the rotation axis, 2) the second largest DLs for the blindfolded observers lying parallel to the rotation axis, 3) medium DLs for the blindfolded observers sitting or standing, and 4) the smallest DLs for the standing observers with visual exposure to surroundings. In the last experiment, we determined a scale for inclination from verbally estimating apparent inclination with or without a blindfold. We concluded that the ratio of shear force to normal force was used for estimation of inclination. We discussed synergy of somatic inputs and visual inputs.

Wearable Haptics and Immersive Virtual Reality Rehabilitation Training in Children With Neuromotor Impairments

The past decade has seen the emergence of rehabilitation treatments using virtual reality (VR) environments although translation into clinical practice has been limited so far. In this paper, an immersive VR rehabilitation training system endowed with wearable haptics is proposed for children with neuromotor impairments: it aims to enhance involvement and engagement of patients, to provide congruent multi-sensory afferent feedback during motor exercises and to benefit from the flexibility of VR in adapting exercises to the patient's need. An experimental rehabilitation session conducted with children with cerebral palsy (CP) and developmental dyspraxia (DD) has been performed to evaluate the usability of the system and proof of concept trial of the proposed approach. We compared CP/DD performance with both typically developing children and adult control group. Results show the system was compliant with different levels of motor skills and allowed patients to complete the experimental rehabilitation session, with performance varying according to the expected motor abilities of different groups. Moreover, a kinematic assessmentbased on the presented system has been designed. Obtained results reflected different motor abilities of patients and participants, suggesting suitability of the proposed kinematic assessment as a motor function outcome.

Comparison of vibrotactile and joint-torque feedback in a myoelectric upper-limb prosthesis

BACKGROUND

Despite the technological advancements in myoelectric prostheses, body-powered prostheses remain a popular choice for amputees, in part due to the natural sensory advantage they provide. Research on haptic feedback in myoelectric prostheses has delivered mixed results. Furthermore, there is limited research comparing various haptic feedback modalities in myoelectric prostheses. In this paper, we present a comparison of the feedback intrinsically present in body-powered prostheses (joint-torque feedback) to a commonly proposed feedback modality for myoelectric prostheses (vibrotactile feedback). In so doing, we seek to understand whether the advantages of kinesthetic feedback present in body-powered prostheses translate to myoelectric prostheses, and whether there are differences between kinesthetic and cutaneous feedback in prosthetic applications.

METHODS

We developed an experimental testbed that features a cable-driven, voluntary-closing 1-DoF prosthesis, a capstan-driven elbow exoskeleton, and a vibrotactile actuation unit. The system can present grip force to users as either a flexion moment about the elbow or vibration on the wrist. To provide an equal comparison of joint-torque and vibrotactile feedback, a stimulus intensity matching scheme was utilized. Non-amputee participants (n=12) were asked to discriminate objects of varying stiffness with the prosthesis in three conditions: no haptic feedback, vibrotactile feedback, and joint-torque feedback.

RESULTS

Results indicate that haptic feedback increased discrimination accuracy over no haptic feedback, but the difference between joint-torque feedback and vibrotactile feedback was not significant. In addition, our results highlight nuanced differences in performance depending on the objects' stiffness, and suggest that participants likely pay less attention to incidental cues with the addition of haptic feedback.

CONCLUSION

Even when haptic feedback is not modality matched to the task, such as in the case of vibrotactile feedback, performance with a myoelectric prosthesis can improve significantly. This implies it is possible to achieve the same benefits with vibrotactile feedback, which is cheaper and easier to implement than other forms of feedback.

Effect of Cutaneous Feedback on the Perceived Hardness of a Virtual Object

We investigate the effect of adding cutaneous cues to kinesthetic feedback on the perception of a virtual object's hardness. A cutaneous haptic interface is designed to deliver hardness information to a user's fingertip along with a force-feedback interface, and the corresponding rendering strategy is implemented. Two sets of experiments are conducted to evaluate the proposed approach for hardness perception using one-finger touch and two-finger grasp. Experimental results indicate that the addition of cutaneous feedback can make the virtual surface feel significantly harder than the nominal stiffness delivered by force-feedback alone. In addition, the perceived hardness is significantly affected by the rate of hardness rendered with a cutaneous interface for the nominal stiffness K = 0.3 and 0.5 N/mm. For two-finger grip, the effect of a virtual object's thickness has a significant effect on the perceived hardness measured in stiffness. When the perceived hardness is converted to Young's modulus, the effect of thickness is insignificant.

Tactile Evaluation Feedback System for Multi-Layered Structure Inspired by Human Tactile Perception Mechanism

Tactile sensation is one type of valuable feedback in evaluating a product. Conventionally, sensory evaluation is used to get direct subjective responses from the consumers, in order to improve the product's quality. However, this method is a time-consuming and costly process. Therefore, this paper proposes a novel tactile evaluation system that can give tactile feedback from a sensor's output. The main concept of this system is hierarchically layering the tactile sensation, which is inspired by the flow of human perception. The tactile sensation is classified from low-order of tactile sensation (LTS) to high-order of tactile sensation (HTS), and also to preference. Here, LTS will be correlated with physical measures. Furthermore, the physical measures that are used to correlate with LTS are selected based on four main aspects of haptic information (roughness, compliance, coldness, and slipperiness), which are perceived through human tactile sensors. By using statistical analysis, the correlation between each hierarchy was obtained, and the preference was derived in terms of physical measures. A verification test was conducted by using unknown samples to determine the reliability of the system. The results showed that the system developed was capable of estimating preference with an accuracy of approximately 80%.

A 3-RSR Haptic Wearable Device for Rendering Fingertip Contact Forces

A novel wearable haptic device for modulating contact forces at the fingertip is presented. Rendering of forces by skin deformation in three degrees of freedom (DoF), with contact-no contact capabilities, was implemented through rigid parallel kinematics. The novel asymmetrical three revolute-spherical-revolute (3-RSR) configuration allowed compact dimensions with minimum encumbrance of the hand workspace. The device was designed to render constant to low frequency deformation of the fingerpad in three DoF, combining light weight with relatively high output forces. A differential method for solving the non-trivial inverse kinematics is proposed and implemented in real time for controlling the device. The first experimental activity evaluated discrimination of different fingerpad stretch directions in a group of five subjects. The second experiment, enrolling 19 subjects, evaluated cutaneous feedback provided in a virtual pick-and-place manipulation task. Stiffness of the fingerpad plus device was measured and used to calibrate the physics of the virtual environment. The third experiment with 10 subjects evaluated interaction forces in a virtual lift-and-hold task. Although with different performance in the two manipulation experiments, overall results show that participants better controlled interaction forces when the cutaneous feedback was active, with significant differences between the visual and visuo-haptic experimental conditions.

Optimization-Based Wearable Tactile Rendering

Novel wearable tactile interfaces offer the possibility to simulate tactile interactions with virtual environments directly on our skin. But, unlike kinesthetic interfaces, for which haptic rendering is a well explored problem, they pose new questions about the formulation of the rendering problem. In this work, we propose a formulation of tactile rendering as an optimization problem, which is general for a large family of tactile interfaces. Based on an accurate simulation of contact between a finger model and the virtual environment, we pose tactile rendering as the optimization of the device configuration, such that the contact surface between the device and the actual finger matches as close as possible the contact surface in the virtual environment. We describe the optimization formulation in general terms, and we also demonstrate its implementation on a thimble-like wearable device. We validate the tactile rendering formulation by analyzing its force error, and we show that it outperforms other approaches.

3D printing: clinical applications in orthopaedics and traumatology

Advances in image processing have led to the clinical use of 3D printing technology, giving the surgeon a realistic physical model of the anatomy upon which he or she will operate.

Relying on CT images, the surgeon creates a virtual 3D model of the target anatomy from a series of bi-dimensional images, translating the information contained in CT images into a more usable format.

3D printed models can play a central role in surgical planning and in the training of novice surgeons, as well as reducing the rate of re-operation.

Cite this article: Auricchio F, Marconi S. 3D printing: clinical applications in orthopaedics and traumatology. EFORT Open Rev 2016;1:121–127. DOI: 10.1302/2058-5241.1.000012.

Haptic Perception of Edge Sharpness in Real and Virtual Environments

We investigate the accuracy with which the haptic sharpness perception of a virtual edge is matched to that of a real edge and the effect of the virtual surface stiffness on the match. The perceived sharpness of virtual edges was estimated in terms of the point of subjective equality (PSE) when participants matched the sharpness of virtual edges to that of real edges with a radius of 0.5, 2.5, and 12.5 mm over a virtual stiffness range of 0.6 to 3.0 N/mm. The perceived sharpness of a real and a virtual edge of the same radius was significantly different under all but one of the experimental conditions and there was a significant effect of virtual surface stiffness on the accuracy of the match. The results suggest that the latter is presumably due to a constant penetration force employed by the participants that influenced the penetration depth and perceived sharpness of virtual edges at different surface stiffness levels. Our findings provide quantitative relations for appropriately offsetting the radii of virtual edges in order to achieve the desired perceived sharpness of virtual edges.

Effects of Grip-Force, Contact, and Acceleration Feedback on a Teleoperated Pick-and-Place Task

The multifaceted human sense of touch is fundamental to direct manipulation, but technical challenges prevent most teleoperation systems from providing even a single modality of haptic feedback, such as force feedback. This paper postulates that ungrounded grip-force, fingertip-contact-and-pressure, and high-frequency acceleration haptic feedback will improve human performance of a teleoperated pick-and-place task. Thirty subjects used a teleoperation system consisting of a haptic device worn on the subject's right hand, a remote PR2 humanoid robot, and a Vicon motion capture system to move an object to a target location. Each subject completed the pick-and-place task 10 times under each of the eight haptic conditions obtained by turning on and off grip-force feedback, contact feedback, and acceleration feedback. To understand how object stiffness affects the utility of the feedback, half of the subjects completed the task with a flexible plastic cup, and the others used a rigid plastic block. The results indicate that the addition of grip-force feedback with gain switching enables subjects to hold both the flexible and rigid objects more stably, and it also allowed subjects who manipulated the rigid block to hold the object more delicately and to better control the motion of the remote robot's hand. Contact feedback improved the ability of subjects who manipulated the flexible cup to move the robot's arm in space, but it deteriorated this ability for subjects who manipulated the rigid block. Contact feedback also caused subjects to hold the flexible cup less stably, but the rigid block more securely. Finally, adding acceleration feedback slightly improved the subject's performance when setting the object down, as originally hypothesized; interestingly, it also allowed subjects to feel vibrations produced by the robot's motion, causing them to be more careful when completing the task. This study supports the utility of grip-force and high-frequency acceleration feedback in teleoperation systems and motivates further improvements to fingertip-contact-and-pressure feedback.

From CT scanning to 3-D printing technology for the preoperative planning in laparoscopic splenectomy

BACKGROUND

Three-dimensional printing technology is rapidly changing the way we produce all sort of objects, having also included medical applications. We embarked in a pilot study to assess the value of patient-specific 3-D physical manufacturing of spleno-pancreatic anatomy in helping during patient's counseling and for preoperative planning.

METHODS

Twelve patients scheduled for a laparoscopic splenectomy underwent contrast CT and subsequent post-processing to create virtual 3-D models of the target anatomy, and 3-D printing of the relative solid objects. The printing process, its cost and encountered problems were monitored and recorded. Patients were asked to rate the value of 3-D objects on a 1-5 scale in facilitating their understanding of the proposed procedure. Also 10 surgical residents were required to evaluate the perceived extra value of 3-D printing in the preoperative planning process.

RESULTS

The post-processing analysis required an average of 2; 20 h was needed to physically print each model and 4 additional hours to finalize each object. The cost for the material employed for each object was around 300 euros. Ten patients gave a score of 5, two a score of 4. Six residents gave a score of 5, four a score of 4.

CONCLUSIONS

Three-dimensional printing is helpful in understanding complex anatomy for educational purposes at all levels. Cost and working time to produce good quality objects are still considerable.

Inferring the depth of 3-D objects from tactile spatial information

Four psychophysical experiments were conducted to examine the relation between tactile spatial information and the estimated depth of partially touched 3-D objects. Human participants touched unseen, tactile grating patterns with their hand while keeping the hand shape flat. Experiment 1, by means of a production task, showed that the estimated depth of the concave part below the touched grating was well correlated with the separation between the elements of the grating, but not with the overall size of the grating, nor with the local structure of the touched parts. Experiments 2 and 3, by means of a haptic working memory task, showed that the remembered depth of a target surface was biased toward the estimated bottom position of a tactile grating distractor. Experiment 4, by means of a discrimination task, revealed that tactile grating patterns influenced speeded judgments about visual 3-D shapes. These results suggest that the haptic system uses heuristics based on spatial information to infer the depth of an untouched part of a 3-D object.

Role of combined tactile and kinesthetic feedback in minimally invasive surgery

BACKGROUND

Haptic feedback is of critical importance in surgical tasks. However, conventional surgical robots do not provide haptic feedback to surgeons during surgery. Thus, in this study, a combined tactile and kinesthetic feedback system was developed to provide haptic feedback to surgeons during robotic surgery.

METHODS

To assess haptic feasibility, the effects of two types of haptic feedback were examined empirically - kinesthetic and tactile feedback - to measure object-pulling force with a telesurgery robotics system at two desired pulling forces (1 N and 2 N). Participants answered a set of questionnaires after experiments.

RESULTS

The experimental results reveal reductions in force error (39.1% and 40.9%) when using haptic feedback during 1 N and 2 N pulling tasks. Moreover, survey analyses show the effectiveness of the haptic feedback during teleoperation.

CONCLUSIONS

The combined tactile and kinesthetic feedback of the master device in robotic surgery improves the surgeon's ability to control the interaction force applied to the tissue. Copyright © 2014 John Wiley & Sons, Ltd.

Restoring natural sensory feedback in real-time bidirectional hand prostheses

Hand loss is a highly disabling event that markedly affects the quality of life. To achieve a close to natural replacement for the lost hand, the user should be provided with the rich sensations that we naturally perceive when grasping or manipulating an object. Ideal bidirectional hand prostheses should involve both a reliable decoding of the user's intentions and the delivery of nearly "natural" sensory feedback through remnant afferent pathways, simultaneously and in real time. However, current hand prostheses fail to achieve these requirements, particularly because they lack any sensory feedback. We show that by stimulating the median and ulnar nerve fascicles using transversal multichannel intrafascicular electrodes, according to the information provided by the artificial sensors from a hand prosthesis, physiologically appropriate (near-natural) sensory information can be provided to an amputee during the real-time decoding of different grasping tasks to control a dexterous hand prosthesis. This feedback enabled the participant to effectively modulate the grasping force of the prosthesis with no visual or auditory feedback. Three different force levels were distinguished and consistently used by the subject. The results also demonstrate that a high complexity of perception can be obtained, allowing the subject to identify the stiffness and shape of three different objects by exploiting different characteristics of the elicited sensations. This approach could improve the efficacy and "life-like" quality of hand prostheses, resulting in a keystone strategy for the near-natural replacement of missing hands.

Intra- and intermanual curvature aftereffect can be obtained via tool-touch

We examined the perception of virtual curved surfaces explored with a tool. We found a reliable curvature aftereffect, suggesting neural representation of the curvature in the absence of direct touch. Intermanual transfer of the aftereffect suggests that this representation is somewhat independent of the hand used to explore the surface.

Haptic Edge Sharpness Perception with a Contact Location Display

The effect of contact location information on virtual edge perception was investigated in two experiments. In Experiment 1, participants discriminated edge sharpness under force-alone and force-plus-contact-location conditions using a 4.8 mm radius contact roller. Virtual objects were 2D profiles of edges with two adjoining surfaces. For both conditions, the Just Noticeable Difference (JND) in change of edge radius increased from 2.3 to 7.4 mm as edge radii increased from 2.5 to 20.0 mm; there was no significant difference between the two conditions. A follow-up experiment with contact location alone resulted in higher edge sharpness JNDs. In Experiment 2, the same edge sharpness discrimination task was performed using a smaller contact roller (R = 1.5 mm) to investigate the effect of roller size. The JNDs for the smaller roller were not statistically significant from those of the larger roller. Our results suggest that 1) contact location cues alone are capable of conveying edge sharpness information, but that force cues are dominant when both types of cues are available; and 2) the radius of the contact roller does not significantly affect the user's ability to discriminate edge sharpness, indicating that the participants could use the changes in contact location to judge curvature.