Haptic rendering: programming touch interaction with virtual objects
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Improving Contact Realism through Event-Based Haptic Feedback
IEEE Transactions on Visualization and Computer Graphics
Perceived Instability of Virtual Haptic Texture: III. Effect of Update Rate
Presence: Teleoperators and Virtual Environments
Perception of stiffness during interaction with delay-like nonlinear force field
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Extended rate-hardness: a measure for perceived hardness
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Real stiffness augmentation for haptic augmented reality
Presence: Teleoperators and Virtual Environments
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Rendering a stiff virtual surface using a force-feedback haptic interface has been one of the most classic and important research issues in haptics. In this paper, we present an initial study for a novel haptic rendering technique, named stiffness shifting, which greatly increases the perceived hardness of a virtual surface. The key idea of stiffness shifting is to use a stiffness profile that includes an instantaneous increment shortly after a contact. The algorithm is very simple, and can be easily integrated into existing haptic rendering algorithms for 3D objects. Furthermore, the perceptual performance of the algorithm is impressive; a virtual wall rendered using stiffness shifting is perceived as hard as one rendered using the common linear spring model with 2.5 times higher stiffness. This result demonstrates a great potential of stiffness shifting to be a general means for improving the perceptual quality of haptic rendering.