On the synthesis of haptic textures

IEEE Transactions on Robotics

Volumn 24, Issue 3, 2008, Pages 527-536

  Campion, Gianni ^a   Hayward, Vincent ^a  

^a MCGILL UNIVERSITY   (Canada)

Author keywords

Force reflective virtual environments; Haptic interfaces; Haptic textures; High fidelity haptic simulation; Mechatronics; Passivity

Indexed keywords

BOOLEAN FUNCTIONS; KETONES; TEXTURES; VIRTUAL REALITY;

(1 1 0) SURFACE; (111) TEXTURE; ENERGY CHARACTERISTICS; FORCE FIELD (FF); FRICTION FORCES; HAPTIC SIMULATIONS; HAPTIC TEXTURES; HAPTIC VIRTUAL ENVIRONMENTS; LOOP GAINS; PROPERTY (S); SMOOTH SURFACES; SYNTHESIS (OF CHIRAL IONIC LIQUIDS); TEXTURE SYNTHESIS; VIRTUAL INTERACTIONS; VIRTUAL SURFACES;

FILMS;

EID: 46349103731     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.924255     Document Type: Article

References (35)

1. J. E. Colgate, P. E. Grafing, M. C. Stanley, and G. Schenkel, "Implementation of stiff virtual walls in force-reflecting interfaces," in Virtual Real. Annu. Int. Symp., 1993, pp. 202-208.
2. R. J. Adams and B. Hannaford, "Stable haptic interaction with virtual environments," IEEE Trans. Robot. Autom., vol. 15, no. 3, pp. 465-474, Jun. 1999.
3. J. K. Salisbury, F. Conti, and F. Barbagli, "Haptic rendering: Introductory concepts," IEEE Comput. Graph. Appl., vol. 24, no. 2, pp. 24-32, Mar.- Apr. 2004.
4. J. J. Abbott and A. M. Okamura, "Effects of position quantization and sampling rate on virtual wall passivity," IEEE Trans. Robot., vol. 21, no. 5, pp. 952-964, Oct. 2005.
5. N. Diolaiti, G. Niemeyer, F. Barbagli, and J. K. Salisbury, "Stability of haptic rendering: Discretization, quantization, time delay, and Coulomb effects," IEEE Trans. Robot., vol. 22, no. 2, pp. 256-268, Apr. 2006.
6. M. Minsky and S. J. Lederman, "Simulated haptic textures: Roughness," in Proc. ASME IMECE Symp. Haptic Interfaces Virtual Environ. Teleoperator Syst., DSC-Vol. 58, 1996, pp. 421-426.
7. J. Siira and D. Pai, "Haptic textures - A stochastic approach," in Proc. IEEE Int. Conf. Robot. Autom., 1996, pp. 557-562.
8. J. P. Fritz and K. E. Barner, "Stochastic models for haptic textures," in Proc. SPIE, Vol. 2901, Telemanipulator Telepresence Technol. III M. R. Stein, Ed., 1996, pp. 34-44.
9. M. Costa and M. Cutkosky, "Roughness perception of haptically displayed fractal surfaces," in Proc. ASME IMECE Symp. Haptic Interfaces Virtual Environ. Teleoperator Syst., 2000, vol. 69-72, pp. 1073-1079.
10. J. M. Weisenberger, M. J. Kreier, and M. A. Rinker, "Judging the orientation of sinusoidal and square-wave virtual gratings presented via 2-DOF and 3-DOF haptic interfaces," Haptics-e, vol. 1, no. 4, pp. 1003-1009, 2000.
11. V. Hayward and D. Yi, "Change of height: An approach to the haptic display of shape and texture without surface normal," in Exp. Robot. VIII, (ser. Springer Tracts in Advanced Robotics), B. Siciliano and P. Dario, Eds. Heidelberg, Germany: Springer-Verlag, 2003, pp. 570-579.
12. M. A. Otaduy and M. C. Lin, "A perceptually-inspired force model for haptic texture rendering," in Proc. 1st Symp. Appl. Perception Graph. Vis. New York: ACM Press, 2004, pp. 123-126.
13. A. Crossan, J. Williamson, and R. Murray-Smith, "Haptic granular synthesis: Targeting, visualisation and texturing," in Proc. Int. Symp. Non-Visual Multimodal Vis. Piscataway, NJ: IEEE Press, 2004, pp. 527-532.
14. M. A. Otaduy, N. Jain, A. Sud, and M. C. Lin, "Haptic display of interaction between textured models," in Proc. IEEE Vis., 2004, pp. 297-304.
15. N. Melder and W. S. Harwin, "Force shading and bump mapping using the friction cone algorithm," in 1st Joint Eurohaptics Conf. Symp. Haptic Interfaces Virtual Environ. Teleoperator Syst., 2005. WHC 2005. pp. 573-575.
16. A. Hardwick, S. Furner, and J. Rush, "Tactile display of virtual reality from the World Wide Web - A potential access method for blind people," Displays, vol. 18, pp. 153-161, 1998.
17. M. Mahvash and V. Hayward, "High fidelity haptic synthesis of contact with deformable bodies," IEEE Comput. Graph. Appl., vol. 24, no. 2, pp. 48-55, Apr. 2004.
18. M. Mahvash and V. Hayward, "High fidelity passive force reflecting virtual environments," IEEE Trans. Robot., vol. 21, no. 1, pp. 38-46, Feb. 2005.
19. S. Choi and H. Z. Tan, "Perceived instability of virtual haptic texture. I. Experimental studies," Presence: Teleoperators Virtual Environ., vol. 13, no. 4, pp. 395-415, 2004.
20. S. Choi and H. Z. Tan, "Perceived instability of virtual haptic texture. II. Effect of collision-detection algorithm," Presence: Teleoperators Virtual Environ., vol. 14, no. 4, pp. 463-81, 2005.
21. K. J. Salisbury, D. Brock, T. Massie, N. Swarup, and C. Zilles, "Haptic rendering : Programming touch interaction with virtual objects," in Proc. Symp. Interac. 3-D Graph. New York: ACM Press, 1995, pp. 123-130.
22. K. Zhou and J. C. Doyle, Essentials of Robust Control, Englewood Cliffs, NJ: Prentice-Hall, 1997.
23. G. Campion and V. Hayward, "Fundamental limits in the rendering of virtual haptic textures," in Proc. First Joint Eurohaptics Conf. Symp. Haptic Interfaces Virtual Environ. Teleoperator Syst., World Haptics 2005, pp. 263-270.
24. V. Hayward, "Haptic synthesis," in Proc. 8th Int. IFAC Symp. Robot Control, SYROCO 2006, pp. 19-24.
25. J. E. Colgate and G. Schenkel, "Passivity of a class of sampled-data systems: Application to haptic interfaces," in Proc. Am. Control Conf., 1994, pp. 3236-3240.
26. H. Goldstein, Classical Mechanics Reading. MA: Addison-Wesley, 1950.
27. D. Hill and P. Moylan, "Dissipative dynamical systems: Basic input-output and state properties," J. Franklin Inst., vol. 309, no. 5, pp. 327-357, 1980.
28. C. B. Zilles and J. K. Salisbury, "A constraint-based god object method for haptic display," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., IROS'95, vol. 3, pp. 146-151.
29. H. B. Morgenbesser and M. A. Srinivasan, "Force shading for haptic shape perception," in Proc. 5th Symp. Haptic Interfaces Virtual Environ. Teleoperators, ASME Dynamic Syst. Control Div., 1996, vol. DSC 58, pp. 407-412.
30. V. Hayward and O. R. Astley, "Performance measures for haptic interfaces," in Robot. Res.: 7th Int. Symp., G. Giralt and G. Hirzinger, Eds. Heidelberg, Germany: Springer-Verlag, 1996, pp. 195-207.
31. A. Frisoli, personal communication, 2004.
32. V. Hayward and B. Armstrong, "A new computational model of friction applied to haptic rendering," in Exp. Robot. VI, (Lecture Notes in Control and Information Sciences), P. Corke and J. Trevelyan, Eds., vol. 250, 2000, pp. 403-412.
33. G. Campion, Q. Wang, and V. Hayward, "The Pantograph Mk-II: A haptic instrument," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., IROS'05, pp. 723-728.
34. A. H. Gosline, G. Campion, and V. Hayward, "On the use of eddy current brakes as tunable, fast turn-on viscous dampers for haptic rendering," in Proc. Eurohaptics, 2006, pp. 229-234.
35. S. A. Wall and W. S. Harwin, "Effects of physical bandwidth on perception of virtual gratings," in Proc. Symp. Haptic Interfaces Virtual Environ. Teleoperators, ASME Dynamic Syst. Control Division, 2000, pp. 1033-1039.