Recordable Haptic textures
01 Jan 2006-pp 130-133
TL;DR: A method to record the surface texture of real life objects like metal files, sandpaper etc that can subsequently be played back on virtual surfaces using commonly available haptic hardware and the 3DOF SensAble PHANToM is presented.
Abstract: In this paper we present a method to record the surface texture of real life objects like metal files, sandpaper etc. These textures can subsequently be played back on virtual surfaces. Our method has the advantage that it can record textures using commonly available haptic hardware. We use the 3DOF SensAble PHANToM to record the textures. The algorithm involves creating recordings of the frequency content of a real surface, by exploring it with a haptic device. We estimate the frequency spectra at two different velocities, and subsequently interpolate between them on a virtual surface. The extent of correlation between real and simulated spectra was estimated and a near exact spectral match was obtained. The simulated texture was played back using the same haptic device. The algorithm to record and playback textures is simple and can be easily implemented for planar surfaces with uniform textures
Citations
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TL;DR: It is shown that a relationship exists between perceived haptic texture and its image features, and this relationship is effectively used for automatic haptictexture model assignment.
Abstract: In this paper, we focused on building a universal haptic texture models library and automatic assignment of haptic texture models to any given surface from the library based on image features. It is shown that a relationship exists between perceived haptic texture and its image features, and this relationship is effectively used for automatic haptic texture model assignment. An image feature space and a perceptual haptic texture space are defined, and the correlation between the two spaces is found. A haptic texture library was built, using 84 real life textured surfaces, by training a multi-class support vector machine with radial basis function kernel. The perceptual space was classified into perceptually similar clusters using K-means. Haptic texture models were assigned to new surfaces in a two step process; classification into a perceptually similar group using the trained multi-class support vector machine, and finding a unique match from within the group using binarized statistical image features. The system was evaluated using 21 new real life texture surfaces and an accuracy of 71.4 percent was achieved in assigning haptic models to these surfaces.
8 citations
Additional excerpts
...the data-driven haptic modeling [8], [9], [10], [11]....
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01 Oct 2012
TL;DR: A novel approach to generation of haptic texture from visual image for modelling the constraint forces in tangent direction of a surface, based on which the texture force can be calculated and is much more realistic than those published in the literature.
Abstract: In this paper, we present a novel approach to generation of haptic texture from visual image for modelling the constraint forces in tangent direction of a surface, based on which the texture force (friction) can be calculated. One significant difference from conventional image-based haptic texture is that an improved switching vector median filter (ISVMF) was employed to replace the gray-scale Gaussian filter for preserving fine detail information of the image. As a result, the new haptic texture rendering algorithm can convey tactile patterns based on fine features of the image and is much more realistic than those published in the literature.
7 citations
Cites background from "Recordable Haptic textures"
...Therefore, haptic texture rendering, the goal of which is to introduce microgeometry-scale features on object surfaces, has received increasing attention in the haptics community....
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29 Nov 2016
TL;DR: It is shown that a relationship exists between perceived haptic texture and its image features, and this relationship is effectively used for automatic haptictexture model assignment.
Abstract: In this study we focused on building a universal haptic texture models library. This library is used to automatically assign haptic texture models to any given surface based on image features. The library is built from one time data-driven modeling of a large number (84) of textured surfaces, which cover most of the daily life haptic interactions. In this demonstration, we will show automatic assignment of haptic texture models to new arbitrary textured surfaces based on their image features, from the universal haptic library of haptic texture models. Afterwards, the automatically assigned haptic model will be rendered.
5 citations
Additional excerpts
...the data-driven haptic modeling [8], [9], [10], [11]....
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19 Dec 2009
TL;DR: The experiments showed that people can achieve more remarkable texture perception when adding an appropriate noise signal to the original texture force, and subjects can obviously distinguish the texture images with the haptic texture display interface.
Abstract: Stochastic resonance has been found to be a common mechanism in a variety of physical and biological systems including signal transduction in human audition and vision It was supposed that adding stochastic noise signal to the texture force model could enhance the realistic of haptic texture display Based on this assumption, the prior texture force model based on image processing was improved by adding the white Gaussian noise, and the haptic texture display interface was constructed based on DELTA haptic device The texture perception experiments were carried out The experiments showed that people can achieve more remarkable texture perception when adding an appropriate noise signal to the original texture force, and subjects can obviously distinguish the texture images with the haptic texture display interface
3 citations
Cites methods from "Recordable Haptic textures"
...…the touch sensation, for example designing the vibratory pins and adjusting the displacements of each pin according to the real texture[19], another typical approach is using a pen-like force feedback device to generate the variable force accordance with the rough and coarse surface[20][21]....
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20 Mar 2014
TL;DR: A new system called Hapteo is introduced that enables “haptic videos” (videos with haptic recordings) to be recorded and replayed without requiring haptic virtual environment software to be deployed.
Abstract: For over two decades, haptics has provided people with new computer interaction styles across a range of applications. However, it is difficult to share haptic experiences and compare haptic rendering algorithms. In this paper, we introduce a new system called Hapteo that enables “haptic videos” (videos with haptic recordings) to be recorded and replayed without requiring haptic virtual environment software to be deployed. Our system enables users to capture visual-haptic information easily and share it using the Hapteo Player. In order to provide a more realistic and interactive experience, contact surfaces and haptic forces are modeled with radial basis functions, and videos are replayed in a haptic-driven style.
3 citations
Additional excerpts
...Vasudevan and Manivannan [12] used a common haptic device to explore a textured surface and simulated the recorded haptic texture from the frequency spectrum of the tooltip’s vertical displacements....
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References
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01 Feb 1990
TL;DR: The force display technology used in the Sandpaper system is a motor-driven two-degree of freedo m joystick, which computes the appropriate forces for the joystick's motors in real-time.
546 citations
"Recordable Haptic textures" refers methods in this paper
...To incorporate these features in a virtual model, we require a quick and efficient method of recording and reproducing these textures....
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01 Aug 2001
TL;DR: A system for constructing computer models of several aspects of physical interaction behavior, by scanning the response of real objects, using a highly automated robotic facility that can scan behavior models of whole objects.
Abstract: We describe a system for constructing computer models of several aspects of physical interaction behavior, by scanning the response of real objects. The behaviors we can successfully scan and model include deformation response, contact textures for interaction with force-feedback, and contact sounds. The system we describe uses a highly automated robotic facility that can scan behavior models of whole objects. We provide a comprehensive view of the modeling process, including selection of model structure, measurement, estimation, and rendering at interactive rates. The results are demonstrated with two examples: a soft stuffed toy which has significant deformation behavior, and a hard clay pot which has significant contact textures and sounds. The results described here make it possible to quickly construct physical interaction models of objects for applications in games, animation, and e-commerce.
209 citations
TL;DR: An efficient haptic rendering method for displaying the feel of 3-D polyhedral objects in virtual environments (VEs) using a hierarchical database, multithreading techniques, and efficient search procedures to reduce the computational time.
Abstract: Computer haptics, an emerging field of research that is analogous to computer graphics, is concerned with the generation and rendering of haptic virtual objects. In this paper, we propose an efficient haptic rendering method for displaying the feel of 3-D polyhedral objects in virtual environments (VEs). Using this method and a haptic interface device, the users can manually explore and feel the shape and surface details of virtual objects. The main component of our rendering method is the “neighborhood watch” algorithm that takes advantage of precomputed connectivity information for detecting collisions between the end effector of a force-reflecting robot and polyhedral objects in VEs. We use a hierarchical database, multithreading techniques, and efficient search procedures to reduce the computational time such that the haptic servo rate after the first contact is essentially independent of the number of polygons that represent the object. We also propose efficient methods for displaying surface properties of objects such as haptic texture and friction. Our haptic-texturing techniques and friction model can add surface details onto convex or concave 3-D polygonal surfaces. These haptic-rendering techniques can be extended to display dynamics of rigid and deformable objects.
201 citations
"Recordable Haptic textures" refers methods in this paper
...We present in this paper simple and easily implementable method....
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...This algorithm is simple and an advantage of this method is the ease with which the texture is recorded and played....
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22 Apr 1996
TL;DR: The authors present a simple, fast algorithm to synthesize haptic textures from statistical properties of surfaces, which has been successfully implemented on a two-degree-of-freedom haptic interface (the Pantograph).
Abstract: All objects have a surface roughness which manifests itself as small forces when objects slide under load against each other. Simulating this roughness haptically enriches the interaction between a user and a virtual world, just as creating graphical textures enhances the depiction of a scene. As with graphical textures, a major design constraint for haptic textures is the generation of a sufficiently "realistic" texture given hard constraints on computational costs. The authors present a simple, fast algorithm to synthesize haptic textures from statistical properties of surfaces. The synthesized texture can be overlaid on other contact models, such as hard contact with Coulomb friction. The algorithm requires minimal hardware support, and can be implemented on a variety of force-feedback mechanisms. It has been successfully implemented on a two-degree-of-freedom haptic interface (the Pantograph).
116 citations
"Recordable Haptic textures" refers background in this paper
...Our method uses the commonly available SensAble PHANToM ® to record textures from real surfaces....
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...We use the 3DOF SensAble PHANToM ® to record the textures....
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...Keywords – Haptics, Textures, Signal Processing, FFT,PHANToM I. INTRODUCTION Modeling interaction behavior is essential and challenging for creating interactive virtual environments....
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...This is accomplished by estimating the frequency spectrum of vertical perturbations while dragging the tip of the PHANToM on a real surface laterally....
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...Figure 1 shows how the PHANToM is used to explore the surface of a metal file....
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TL;DR: Two new rendering methods for haptic texturing are presented for implementation of stochastic based texture models using a 3 DOF point interaction haptic interface.
Abstract: Recent research in haptic systems has begun to focus on the generation of textures to enhance haptic simulations. Synthetic texture generation can be achieved through the use of stochastic modeling techniques to produce random and pseudo-random texture patterns. These models are based on techniques used in computer graphics texture generation and textured image analysis and modeling. The goal for this project is to synthesize haptic textures that are perceptually distinct. Two new rendering methods for haptic texturing are presented for implementation of stochastic based texture models using a 3 DOF point interaction haptic interface. The synthesized textures can be used in a myriad of applications, including haptic data visualization for blind individuals and overall enhancement of haptic simulations.
79 citations
"Recordable Haptic textures" refers methods in this paper
...To simulate textures on a virtual surface, we employ linear interpolation between these two recorded samples based on the velocity of the tip of the phantom on the virtual surface....
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