Haptic rendering of interaction between textured models

Miguel A. Otaduy, Nitin Jain, Avneesh Sud, Ming C. Lin
2004 ACM SIGGRAPH 2004 Sketches on - SIGGRAPH '04  
Figure 1: Haptic Rendering of Interaction between Textured Objects. From left to right: (a) high-resolution textured hammer (433K polygons) and CAD part (658K polygons), (b) low-resolution models (518 & 720 polygons), (c) hammer texture with fine geometric detail. Abstract Surface texture is among the most salient haptic characteristics of objects; it can induce vibratory contact forces that lead to perception of roughness. In this paper, we present a new algorithm to compute contact forces and
more » ... torques between textured objects using low-resolution geometric representations with texture images that encode surface details. We introduce a novel force model based on directional penetration depth and describe an efficient implementation on programmable graphics hardware that enables interactive haptic texture rendering of complex models. Our algorithm takes into account important factors identified by psychophysics studies and is able to haptically display interaction due to fine surface textures that existing algorithms do not capture.
doi:10.1145/1186223.1186281 dblp:conf/siggraph/OtaduyJSL04 fatcat:ifwjea37ebckjmwxphxcfhbfbi