@misc{Fazlollahi25-GRCEA-Haptify,
  title = {Haptify: A Measurement System for Benchmarking Grounded Force-Feedback Devices},
  abstract = {Grounded force-feedback (GFF) devices are a well-established and diverse category of haptic technology based on robotic arms. However, the number of designs and their specifications make it challenging to compare devices effectively. We address this challenge by presenting Haptify, a benchmarking system capable of evaluating GFF haptic devices in a thorough, fair, and non-invasive way. The user holds the instrumented device end-effector and moves it through a series of passive and active experiments. Haptify captures the interaction between the hand, device, and ground using a seven-camera optical motion-capture system, a custom 60-cm-square force plate, and a customized sensing end-effector. We propose six key metrics for evaluating GFF device performance: workspace shape, global free-space forces, global free-space vibrations, local dynamic forces and torques, frictionless surface rendering, and stiffness rendering. We then benchmark two commercial haptic devices using Haptify. The more expensive Touch X has a smaller workspace than the 3D Systems Touch, but it outputs smaller free-space forces and vibrations, smaller and more predictable dynamic forces and torques, and higher-quality renderings of a frictionless surface and high stiffness. },
  howpublished = {Extended abstract (3 pages) presented at the German Robotics Conference (GRC)},
  address = {Nuremberg, Germany },
  month = mar,
  year = {2025},
  slug = {fazlollahi25-grcea-haptify},
  author = {Fazlollahi, Farimah and Kuchenbecker, Katherine J.},
  month_numeric = {3}
}