We describe two experiments using three testbeds (real, virtual and vision-only) for comparison of user performance during 3-D peg-in-hole tasks. Tasks are performed using a six-degree-of-freedom (6-DOF) magnetic levitation haptic device. The experimental design allows a user to experience real and virtual forces using the same device. The first experiment compares real and virtual tasks. In the virtual task, a peg and hole are rendered haptically and visually. During the real task, a physical peg is attached to the underside of the haptic device. A hole in a plate attached to a force/torque sensor receives the peg. The second experiment compares a virtual haptic task to one performed using vision alone. Preliminary results indicate increased task time, more variation in force and position, and more failures occur with the virtual task than with the real task. More variation in force and position, and more failures occur with the vision-only task than with the virtual task. Users apply similar strategies for virtual and real tasks. Virtual haptic display, while worse than reality, contributes significantly to task performance when compared to vision alone.
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