The Influence of Single Parameter Changes on Subjective Experience and Ordering Performance of Electrotactile Cues

Electrotactile haptics is a novel form of skin stimulation. It is versatile and allows manipulation of many design parameters, broadening the range of haptic experiences. However, how parameter changes influence qualitative experiences is not well understood. We systematically investigated (n=45) the influence of single parameter changes (e.g. pulse width, amplitude), capturing the breadth of experiences elicited. We compared differences between calibration and ordering task performance, first between left and right hands, then between single and both hands simultaneously, all with open hand and while holding an object, fully exploring the design space. Results showed the wide range of qualitative experience, from concrete to abstract. Calibration should be performed on both hands simultaneously to ensure perception, as participants preferred lower pulse width values for simulation on both hands as compared to each hand alone. The results present the first detailed exploration into the qualitative aspects of electrotactile stimulation across the hands.