This paper describes two algorithms for representing small (< 100 μm) step edges with a force feedback simulator. The first algorithm is the traditional spring-damper force feedback model that represents the cursor's present position as a point. The second, new, model represents the cursor as a small sphere. A forced-choice experiment with eight participants indicates that people can judge the height of small edges more reliably with the sphere model. The results are useful for the development of simulators for training fine haptic skills. They are more generally useful to human factors professionals in the haptics community because they describe how to overcome a fundamental perceptual challenge with haptic stimulators.
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