Effects of Impedance Control on Haptic Perception of Object Properties: A qualitative and quantitative approach

Previous studies on haptic feedback in virtual reality primarily rely on single quantitative measures, which may overlook the diversity of user perceptions regarding their sensory experiences. To address this gap, we conducted user interviews and applied thematic analysis to uncover how users perceive physical properties when interacting with varying levels of motion impedance, such as changes in inertia, viscosity, and elasticity. Through further experiments, we identified four key dimensions—size, viscosity, weight, and flexibility—that users consistently associated with changes in impedance. Our findings offer a framework for designing haptic feedback systems that can better capture a variety of user perceptions, leading to more personalized and immersive virtual reality experiences.