Wissenschaftlicher Zeitschrift Kunststofftechnik Journal ... · Haptics of objects and surfaces is...

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© Carl Hanser Verlag Zeitschrift Kunststofftechnik / Journal of Plastics Technology 6 (2010) 1 handed in/eingereicht: 01.08.2008 accepted/angenommen: 30.10.2009 Dr. Denys Zimin 1 , Dr. Kristin Schmidt 1 , Dr. Goy Teck Lim 2 , Dr. Meik Ranft 3 , Dr. Alexandre Terrenoire 3 , Dipl.-Ing. Hardy Korb 3 , Dr. Jan Sandler 2,3 , Prof. Dr. Andreas Fery 1 , Prof. Dr.-Ing. Volker Altstädt 2, Prof. Dr. Georg Krausch 1 1 Lehrstuhl für Physikalische Chemie II, Universität Bayreuth, Germany 2 Lehrstuhl für Polymere Werkstoffe, Universität Bayreuth, Germany 3 BASF SE, Ludwigshafen, Germany Correspondence should be addressed to A. Fery. Relating Haptic Perception of Polymer Surfaces to their Objective Properties Haptics of objects and surfaces is becoming an important research topic in various scientific and industrial applications. No formal criteria or guidelines are hitherto available to provide any insight to measure or to manipulate the haptic quality of a surface or an object. To establish a reliable link between the subjective response of touch and various objective measurable quantities, this work presents a provisional concept to solicit relevant haptic evaluation of selected polymers from a survey of a representative population and correlate it to a set of surface and material properties. Interesting findings obtained herein can bring about more understanding and shed new insights on how the intriguing human touch can change with materials and their surface quality. Verbindung zwischen der haptischen Wahrnehmung von Polymeroberflächen und ihren objektiven Eigenschaften Die Haptik von Gegenständen und Oberflächen gewinnt als Forschungsthema in Wissenschaft und Industrie an Bedeutung. Bisher sind jedoch keine formalen Kriterien zur Messung oder Beeinflussung der haptischen Qualität einer Oberfläche oder eines Objekts vorhanden. Diese Arbeit präsentiert ein provisorisches Konzept, um das subjektive Tastgefühl mit verschiedenen objektiv messbaren Werten in Verbindung zu bringen. Dabei wird die relevante haptische Erfassung ausgewählter Polymere mittels einer Umfrage an repräsentativen Testpersonen mit einem Satz quantifizierbarer Oberflächen- und Materialeigenschaften korreliert. Die gewonnenen Erkenntnisse verschaffen einen Einblick, wie die menschliche taktile Wahrnehmung durch die Veränderung des Materials oder seiner Oberflächen- qualität beeinflusst werden kann. Zeitschrift Kunststofftechnik Wissenschaftlicher Arbeitskreis der Universitäts- Professoren der Kunststofftechnik Journal of Plastics Technology archival, peer-reviewed online Journal of the Scientific Alliance of Polymer Technology archivierte, peer-rezensierte Internetzeitschrift des Wissenschaftlichen Arbeitskreises Kunststofftechnik (WAK) www.plasticseng.com, www.kunststofftech.com © 2010 Carl Hanser Verlag, München www.kunststofftech.com Nicht zur Verwendung in Intranet- und Internet-Angeboten sowie elektronischen Verteilern.

Transcript of Wissenschaftlicher Zeitschrift Kunststofftechnik Journal ... · Haptics of objects and surfaces is...

Page 1: Wissenschaftlicher Zeitschrift Kunststofftechnik Journal ... · Haptics of objects and surfaces is becoming an important research topic in various scientific and ... Haptic characteristics

© Carl Hanser Verlag Zeitschrift Kunststofftechnik / Journal of Plastics Technology 6 (2010) 1

handed in/eingereicht: 01.08.2008 accepted/angenommen: 30.10.2009

Dr. Denys Zimin1, Dr. Kristin Schmidt1, Dr. Goy Teck Lim2, Dr. Meik Ranft3, Dr. Alexandre Terrenoire3, Dipl.-Ing. Hardy Korb3, Dr. Jan Sandler2,3, Prof. Dr. Andreas Fery1, Prof. Dr.-Ing. Volker Altstädt2, Prof. Dr. Georg Krausch1 1 Lehrstuhl für Physikalische Chemie II, Universität Bayreuth, Germany 2 Lehrstuhl für Polymere Werkstoffe, Universität Bayreuth, Germany 3 BASF SE, Ludwigshafen, Germany

Correspondence should be addressed to A. Fery.

Relating Haptic Perception of Polymer Surfaces to their Objective Properties Haptics of objects and surfaces is becoming an important research topic in various scientific and industrial applications. No formal criteria or guidelines are hitherto available to provide any insight to measure or to manipulate the haptic quality of a surface or an object. To establish a reliable link between the subjective response of touch and various objective measurable quantities, this work presents a provisional concept to solicit relevant haptic evaluation of selected polymers from a survey of a representative population and correlate it to a set of surface and material properties. Interesting findings obtained herein can bring about more understanding and shed new insights on how the intriguing human touch can change with materials and their surface quality.

Verbindung zwischen der haptischen Wahrnehmung von Polymeroberflächen und ihren objektiven Eigenschaften Die Haptik von Gegenständen und Oberflächen gewinnt als Forschungsthema in Wissenschaft und Industrie an Bedeutung. Bisher sind jedoch keine formalen Kriterien zur Messung oder Beeinflussung der haptischen Qualität einer Oberfläche oder eines Objekts vorhanden. Diese Arbeit präsentiert ein provisorisches Konzept, um das subjektive Tastgefühl mit verschiedenen objektiv messbaren Werten in Verbindung zu bringen. Dabei wird die relevante haptische Erfassung ausgewählter Polymere mittels einer Umfrage an repräsentativen Testpersonen mit einem Satz quantifizierbarer Oberflächen- und Materialeigenschaften korreliert. Die gewonnenen Erkenntnisse verschaffen einen Einblick, wie die menschliche taktile Wahrnehmung durch die Veränderung des Materials oder seiner Oberflächen-qualität beeinflusst werden kann.

Zeitschrift Kunststofftechnik Wissenschaftlicher

Arbeitskreis der

Universitäts-

Professoren der

Kunststofftechnik Journal of Plastics Technology archival, peer-reviewed online Journal of the Scientific Alliance of Polymer Technology archivierte, peer-rezensierte Internetzeitschrift des Wissenschaftlichen Arbeitskreises Kunststofftechnik (WAK) www.plasticseng.com, www.kunststofftech.com

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Zimin, Fery et al. Relating Haptics to Properties

Journal of Plastics Technology 1 (2010) 1 51

Relating Haptic Perception of Polymer Surfaces to their Objective Properties

D. Zimin, K. Schmidt, G. T. Lim, M. Ranft, A. Terrenoire, H. Korb, J. Sandler, A. Fery, V. Altstädt, G. Krausch

1. INTRODUCTION

Haptics of objects and surfaces is becoming an important research topic in various scientific and industrial applications like medicine, psychology, ergonomics, material science, and virtual reality [1-4.] Some scientific aspects of haptics have been extensively studied in the past, especially medical, ergonomics, physiology, and computer simulations [5-11]. In material science applications, important practical results were obtained in recent years, including the development of soft-touch plastics or ergonomic organization of car dashboard [12, 13]. While a formalization of sensory analysis was used to adopt the evaluation of textiles using principal component analysis [14], formal criteria or guidelines are hitherto unavailable to provide any insight to manipulate the haptic quality of a surface or an object. Even less understanding is mustered to link quantifiable surface or material properties of an object to a haptic perception.

Haptic characteristics of an object or a surface are perceived by our human sense of touch through the mechano- and thermo-receptors of human skin, which sense mechanical or thermal stimuli. It is generally believed [15, 16] that the encapsulated mechanoreceptors (e.g. Ruffini's end organs, Meissner's corpuscles, Merkel’s disks) are mainly responsible for haptic perception. The density distribution of these receptors over the human skin varies widely over our body, resulting in different touch sensitivity and resolution for different skin areas.[17, 18]. In the end, nerve signals from various kinds of receptors are passed to the brain, after which the haptic interpretation of an object or a surface emerges [19].

An interplay of signals from the mechano- and thermo-receptors of different kinds results in the characterization of the objects with the basic properties like hard or soft, warm or cold, smooth or rough, handy or slippery, dry or wet, and, as integral characteristics, pleasant or unpleasant, natural or unnatural. Furthermore, some combinations of these basic properties can make surfaces or objects to be perceived with certain common properties, such as silky, velvety, leathery, soapy, greasy, or rubbery. Most of these common haptic properties are established among experts to be relevant to investigate haptic characteristics of materials.

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Journal of Plastics Technology 6 (2010) 1 52

Since touch is the interaction between the skin and the surface, this work sets out to address the apparent question if it is possible to compile the perceived touch stimuli and relate them to the objective (and hence measurable) physical properties of the surface. When a subjective touch can be reasonably quantified by objective parameters, rigorous mathematical tools, like the multi-dimensional correlation analysis, can then be applied readily to yield further understanding. Objective properties that are meaningful in our study for the characterization of haptics are related to elastic and plastic deformability, surface roughness or porosity and hydrophobicity, as measured using atomic force microscopy (AFM), scanning electron microscopy (SEM), universal surface tester (UST) and contact angle meter. Table 1 summarizes the objective and subjective properties.

Here we present the results of objective and subjective investigations for three sets of material samples (two sets of different leathers and one set of different polyurethanes).

2. EXPERIMENTAL

2.1 Materials and Preparation

Two sets of leather samples exhibiting a significant diversity in the thickness, surface texture, elasticity, and color were investigated. The samples were provided by the BASF SE with preliminary assessments of their subjective haptic properties performed by 10 leather haptic testers. PU samples were also provided by the BASF SE. Before measurements and surveys, the surface of samples was cleaned with deionzed water and dried. Numerous measurements of every method were performed on different parts of the samples to be statistical representative and to ensure reproducibility.

2.2 Objective Property Measurement

The surface contact angle (CA) of a sample was measured using deionized water with a video based contact angle meter (Dataphysics). It was then estimated with the Young-Laplace fit [20, 21].

The average micro-roughness (Ra_m), root-mean-square micro-roughness (Rq_m), and area difference describing the percentage excess of the scan surface area over the projection area, were obtained by AFM measurements (Dimension 3100M, DI). The samples were cleaned with the Snow JetTM technique before the measurements. For all samples, 20 x 20 µm2 images were acquired using the Tapping ModeTM at a resolution of 512 x 512 points.

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Scanning electron microscopy (SEM) images (LEO 1530) of all leather samples were acquired with magnifications of 100, 500, and 1000. A thin carbon coating was deposited on the sample surface prior to imaging. Surface porosity (SP) was calculated from these images by determining the percentage of the image area occupied by pores and slits.

The universal surface tester (UST) was employed to determine the micromechanical surface and sub-surface properties of materials. It allows a precise mechanical and surface profile scanning of the surface load along a scan line with a stylus of a certain geometry and under a pre-defined load.[22] The elastic deformation (UST_eD), permanent deformation (UST_pD), and total deformation (UST_TD) were obtained by the UST standard measurements.[23] For these measurements, an adhesive film was attached to fix the leather sample to the sample holder. With two scans over a length of 10 mm at a velocity of 0.4 mm/s, the initial scanning load was set to 1 mN, while the second scanning was done at 50 mN to impose deformation. A 5 mm diameter stainless steel spherical stylus was used and the measured parameters were taken at every traversed intervals of 2.01 µm. Surface roughness parameters according to DIN and ISO[24] can be obtained from the profiles acquired during the standard measurements with the frequency filter set to 0.8 mm. The parameters obtained from the original (o) and deformed (d) surface profiles are: average roughness (Ra_o, Ra_d), root-mean-square roughness (Rq_o, Rq_d), average maximum height of the profile (Rz_d, Rz_d), and effective length or profile length ratio (EL_o, EL_d). Static indentation measurements were performed using the UST with the 5 mm diameter stainless steel stylus. To look into the surface deformability and recovery of the material using this method, the static indentation depth (UST_SI) and recovery (UST_SR) were determined, with an indentation load of 100 mN. To measure the friction force (UST_Ff) of a sample surface, a 10 mm hemispherical silicon stylus was used; this silicon stylus was specifically considered to simulate a human finger. The sample was mounted on the micro friction table secured with a steel frame. The scan speed and load were chosen to 0.3 mm/s and 50 mN, respectively, while measurement was taken at every traverse increment of 1.98 µm.

2.3 Subjective Haptic Surveys

Surveys were performed with a group of 30 male and female participants, aged between 19 and 55 years old. The age, sex, and finger temperature of all participants were recorded before the start of the survey. Samples of different appearance were presented to participants in enclosed cabinets to avoid the interference of vision [25, 26]. Depending on the sample batch, two different modes of surveys were performed. With the first leather set, the participants were asked to evaluate each property of a sample on a scale from 1 to 4 or with a yes/no answer. As for the second leather set, the participants were asked to order the samples according to one property. Consequently, the relative weight of one property can be identified for each sample. To monitor the reliability of

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Journal of Plastics Technology 6 (2010) 1 54

the survey, a few dummy samples (that were the same as some of material samples) were intentionally inserted into the set. A mean value for each property was finally calculated for the material samples. Here, it is to note that there is no significant difference between the tactile evaluation by males and females.

The list of all values acquired during measurements and surveys is presented in Table 1.

Objective properties

1. CA contact angle

2. UST_pD permanent deformation

3. UST_eD elastic deformation

4. UST_TD total deformation

5. UST_SI static indentation depth

6. UST_SR static recovery

7. Ra_o ave. original roughness

8. Rq_o root-mean-square of original roughness

9. Rz_o average maximum original height

10. EL_o effective original profile length

11. Ra_d average deformed roughness

12. Rq_d root-mean-square of deformed roughness

13. Rz_d average maximum deformed height

14. EL_ d effective deformed profile length

15. UST_Ff friction force

16. SP surface porosity

17. AreaDiff area difference

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18. Rq_20 root-mean-square of micro-roughness

19. Ra_20 average micro-roughness

Subjective properties

1. warm � cold

2. smooth� rough

3. pleasant � unpleasant

4. tacky �slippery

5. dry

6. sticky

7. greasy

8. natural

9. silk-like, silky

10. velvet-like, velvety

11. silicon-like

12. plastic-like

13. waxy

14. hard � soft

15. leather-like

Table 1: List of objective and subjective properties of the leather and polymer samples

2.4 Statistical Analysis

The multi-dimensional data analysis was performed at BASF SE using the methods of principal component analysis (PCA), principal component regression (PCR), and partial least squares (PLS) [27-29]. These methods can

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help to reveal dependencies between the values within the same data set and between different data sets, to investigate the correlation of models in a multidimensional space, and to define individual contributions of certain independent variables to dependent ones.

3. RESULTS AND DISCUSSION

The first set of leathers consisted of 24 leather samples which were processed differently for a variety of different applications resulting in different appearance and feel. The survey aimed to collect a set of subjectively perceived properties (see Table 1). The survey was performed in the assessment mode, where the haptic feel of the sample, like pleasant or sticky was given a score (see Methods section). The correlation hypotheses established for the first set was then to be verified with the results of the second leather set. The second leather set consisted of 13 samples of similar color, thickness, and application. The survey still targeted the same subjectively perceived properties but was conducted using the ordering mode, where pairs of samples were compared and ranked based on a specific subjective feel. Data from this ordering survey were recalculated to suit to the assessment scale of the first leather set.

Objective properties considered to affect haptic feel of the first leather set are compared with the various subjective perceptions. One of these dependencies, e.g. the subjective perception of dry versus the contact angle is presented in Figure 1.

The correlation between the “silky” perception and different objective properties can be found in Figure 2. Similar results were achieved for other subjective perceptions (shown in Table 1), and most of these comparisons exhibit correlation coefficient less than 0.7. From the results in Figures 1 and 2, it is clear that no substantial one-to-one dependence between a single subjective perception and a single objective property can be established and no prognosis can hence be made to indicate that a single objective property of a surface can directly influence a specific haptic quality.

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Figure 1: Simple dependency between a single objective and a single subjective property. Dependence between the contact angle of water and subjective perception of the surface as silky

Figure 2: Dependency of one subjective value on all objective properties. Coefficient plot for subjective value “silky”. Bar heights demonstrate the relative influence of the appropriate objective value.

To achieve a meaningful correlation between a set of subjective perceptions and measured surface properties, multi-dimensional correlation analysis of the data sets was performed. The multi-dimensional correlation analysis, in particular, the principal component analysis, yields the relative influence of the

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objective parameters both on the whole data set and on individual subjective perceptions. In so-called coefficient plots, the contribution of individual objective properties to the formation of single subjective perceived properties is pre-sented. One example for the subjective perception as “silky” is shown in Figure 2. Similar patterns have been encountered for other properties with positive connotations like “warm”, “pleasant”, “natural”, and “tacky”. It can be seen from the figure that certain physical properties have no significant influence on the perception (like elastic deformation or deformed roughness) while others (like contact angle or surface porosity) dominate. In particular, the water contact angle, as a measure for hydrophobicity, appears to be one of the most important values to affect other haptic properties of leather listed in Table 1.

Furthermore, the multi-dimensional correlation analysis yields the mutual influences of variables within a data set, i.e., how much a single X or Y variable is dependent on other X or Y variables. In our treatment, the X variables are the measured objective properties and the Y variables are the subjective perceptions collected from surveys. Given that there may be some independent variables that are affected in a similar way by a particular correlated variable, these independent variables can be combined into a single parameter. Adopting this approach in our study, objective variables were selected statis-tically, based on their relative influences, as shown in Figure 2, for their association with a particular subjective variable and thereafter combined into synthetic parameters. Similarly, subjective properties with positive connotations were also joined together with appropriate normalization for a unity of scale. As such, the synthetic subjective parameter “pleasurable or positive perception” was created as a linear combination of properties “pleasant”, “dry”, “natural”, “silky” and “velvety”. From these, various correlation models can be created to unravel any statistical regularities existing in the multi-dimensional space of variables of a complex and highly subjective problem, like haptic as treated herein.

Using the results of the first leather set, the dependence of “positive perception” on the most relevant objective properties was investigated for the correlation coefficients. The synthetic objective parameter (SOP) was then obtained by a step-by-step introduction of the selected objective properties and assigning them weighting factors to maximize the degree of correlation with “positive perception”. The best correlation achieved is the value of 0.893 with a relatively balanced distribution of points along the regression line as presented in Figure 3a.

To test the validity of the link between “positive perception” and the synthetic objective parameter, we applied the approach and the same weighting factors to the second leather set. Remarkably when added, the values of the second leather set fit well to the correlation trend by the first set that can be clearly seen in Figure 3b. The clustering of the second set is due to the similar processing and physical properties of the different leather samples. Though the overall correlation now becomes slightly poorer, it still indicates the strong inter-relationship between the synthetic subjective and objective parameters.

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Figure 3: Dependence of the synthetic subjective parameter on the synthetic objective parameter. Synthetic parameter “positive perception” depends on water contact angle combined with the surface porosity, the excess of the effective length under total deformation, total deformation, and average roughness without deformation. The first set of leather samples is presented above and both sets are presented below.

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In an attempt to generalize the approach, our statistical treatment of survey data and objective parameters was applied to another class of material – polyurethane, which was specifically intended for use in car dashboard to resemble leather. Presented in Figure 4, the correlation analysis shows that the tactile resemblance of a material to leather is corresponds very well to a synthetic parameter consisting of hydrophobicity, static deformability and dynamic deformability with a correlation coefficient of 0.918. This finding highlights the flexibility and reliability of our adopted method to predict the surface perception for various types of materials with objective properties.

Figure 4: Dependence of the subjective value “leather-like” on the synthetic objective parameter comprising water contact angle, elastic deformation and static deformability

4. CONCLUSION

Our unique approach of creating suitable synthetic parameters for statistical analysis hereby provides a quantitative tool to link a highly subjective haptic feel of a surface or a material to various objective surface and material properties within a class of materials. From the link or statistical correlation, valuable

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knowledge can in turn be generated on how materials or surfaces can be modified to tailor to the desired haptic quality.

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Zimin, Fery et al. Relating Haptics to Properties

Journal of Plastics Technology 1 (2010) 1 64

Keywords: haptics, tactile perception, touch, surface, subjective evaluation, properties, leather, polyurethane, correlation, statistics, PLS.

Stichworte: Haptik, taktile Wahrnehmung, Tastgefühl, Oberfläche, subjektive Evaluierung, Eigenschaften, Leder, Polyurethan, Korrelation, Statistik, PLS.

Authors / Autoren:

Dr. Denys Zimin Dr. Kristin Schmidt Dr. Goy Teck Lim Dr. Meik Ranft Dr. Alexandre Terrenoire Dipl.-Ing. Hardy Korb Dr. Jan Sandler

Prof. Dr.Andreas Fery Universität Bayreuth Physikalische Chemie II Postfach 101251

Prof. Dr. Volker Altstädt Prof. Dr. Georg Krausch

E-Mail: [email protected] Phone.: +49(0)921/5527-53 Fax: +49(0) 921/5520-59

Editor / Herausgeber: Europe/Europa Prof. Dr.-Ing. Dr. h.c. G. W. Ehrenstein, verantwortlich Lehrstuhl für Kunststofftechnik Universität Erlangen-Nürnberg Am Weichselgarten 9 91058 Erlangen Deutschland Phone: +49/(0)9131/85 - 29703 Fax.: +49/(0)9131/85 - 29709 E-Mail: [email protected]

The Americas/Amerikas Prof. Dr. Tim A. Osswald, responsible Polymer Engineering Center, Director University of Wisconsin-Madison 1513 University Avenue Madison, WI 53706 USA Phone: +1/608 263 9538 Fax.: +1/608 265 2316 E-Mail: [email protected]

Publisher/Verlag: Carl-Hanser-Verlag Jürgen Harth Ltg. Online-Services & E-Commerce, Fachbuchanzeigen und Elektronische Lizenzen Kolbergerstrasse 22 81679 Muenchen Phone.: 089/99 830 - 300 Fax: 089/99 830 - 156 E-mail: [email protected]

Editorial Board/Beirat: Professoren des Wissenschaftlichen Arbeitskreises Kunststofftechnik/ Professors of the Scientific Alliance of Polymer Technology

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