On the Synthesis of Haptic Textures [chapter]

Gianni Campion
2008 Springer Series on Touch and Haptic Systems  
Advanced, synthetic haptic virtual environments require textured virtual surfaces. We found that texturing smooth surfaces often reduces the system passivity margin of a haptic simulation. As a result, a smooth virtual surface that can be rendered in a passive manner may loose this property once textured. We propose that any texture algorithm is associated with a characteristic number that expresses the relative change in loop gain. We further found that a passive virtual interaction can have
more » ... eraction can have severe unwanted artifacts if the synthesized force field is not conservative. The energy characteristics of seven algorithms are analyzed. Finally a new texture synthesis algorithm, which operates by modulating a friction force during scanning, is shown to have several advantages over previous ones.
doi:10.1007/978-0-85729-576-7_5 fatcat:ounh32vlz5bqlc6h7jpgjmoxf4