Proceedings ArticleDOI
Recordable Haptic textures
Hari Vasudevan,M. Manivannan +1 more
- pp 130-133
TLDR
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 texturesread more
Citations
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Dissertation
Haptic texture rendering and perception using coil array magnetic levitation haptic interface: Effects of torque feedback and probe type on roughness perception
TL;DR: In this paper, a novel maglev-based haptic platform was deployed to investigate the effects of torque feedback and stylus type on human roughness perception, and two haptic probes, fingertip and penhandle, were 3D printed each with one and four embedded magnets respectively.
Book
Reproduction of Tactual Textures
TL;DR: This introduction defines the scope and the content of the book and presents the motivations of the work, and the issues related to recording and reproducing natural textures directly at the fingertip.
Journal ArticleDOI
Improving the tactile perception of image textures based on adjustable amplitude, frequency, and waveform
TL;DR: A tactile rendering algorithm applied to an electrostatic tactile display that adjusts three parameters of the driving signal to modulate the tangential friction force between a user’s finger and a touch screen to improve the tactile perception of image textures is presented.
Book ChapterDOI
The Spatial Spectrum of Tangential Skin Displacement
TL;DR: The tactual scanning of five naturalistic textures was recorded with an apparatus capable of measuring the tangential interaction force and revealed that texture could be represented spatially despite being sensed through time and that these spectrograms were distinctively organized into what could be called “spatial formants”.
Data-Driven Haptic Modeling and Rendering of Realistic Virtual Textured Surfaces
Abstract: The haptic sensations one feels when interacting with physical objects create a rich and varied impression of the objects, allowing one to gather information about texture, shape, compressibility, and other physical characteristics. The human sense of touch excels at sensing and interpreting these haptic cues, even when the object is felt through an intermediary tool instead of directly with a bare finger. Dragging, pressing, and tapping a tool on the object allow you to sense the object's roughness, slipperiness, and hardness as a combination of vibrations and forces. Unfortunately, the richness of these interaction cues is missing from many virtual environments, leading to a less satisfying and less immersive experience than one encounters in the physical world. However, we can create the perceptual illusion of touching a real object by displaying the appropriate haptic signals during virtual interactions. This thesis presents methods for creating haptic models of textured surfaces from acceleration, force, and speed data recorded during physical interactions. The models are then used to synthesize haptic signals that are displayed to the user during rendering through vibrotactile and/or kinesthetic feedback. The haptic signals, which are a function of the interaction conditions and motions used during rendering, must respond realistically to the user's motions in the virtual environment. We conducted human subject studies to test how well our virtual surfaces capture the psychophysical dimensions humans perceive when exploring textured surfaces with a tool. Three haptic rendering systems were created for displaying virtual surfaces using these surface models. An initial system displayed virtual versions of textured surfaces on a tablet computer using models of the texture vibrations induced when dragging a tool across the real surfaces. An evaluation of the system showed that displaying the texture vibrations accurately captured the surface's roughness, but additional modeling and rendering considerations were needed to capture the full feel of the surface. Using these results, a second system was created for rendering a more complete three-dimensional version of the haptic surfaces including surface friction and event-based tapping transients in addition to the texture vibrations. An evaluation of this system showed that we have created the most realistic haptic surfaces to date. The force-feedback haptic device used in this system, however, was not without its limitations, including low surface stiffness and undesired inertia and friction. We developed an ungrounded haptic augmented reality system to overcome these limitations. This system allowed us to change the perceived texture and friction of a physical threedimensional object using the previously-developed haptic surface models. Degree Type Dissertation Degree Name Doctor of Philosophy (PhD) Graduate Group Mechanical Engineering & Applied Mechanics This dissertation is available at ScholarlyCommons: http://repository.upenn.edu/edissertations/1674 First Advisor Katherine J. Kuchenbecker
References
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Proceedings ArticleDOI
Feeling and seeing: issues in force display
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.
Proceedings ArticleDOI
Scanning physical interaction behavior of 3D objects
Dinesh K. Pai,Kees van den Doel,Doug L. James,Jochen Lang,John E. Lloyd,Joshua L. Richmond,Som H. Yau +6 more
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.
Journal ArticleDOI
Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects
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.
Proceedings ArticleDOI
Haptic texturing-a stochastic approach
J. Siira,Dinesh K. Pai +1 more
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).
Proceedings ArticleDOI
Stochastic models for haptic texture
Jason Fritz,Kenneth E. Barner +1 more
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.