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
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Force constancy and its effect on haptic perception of virtual surfaces
ACM Transactions on Applied Perception (TAP)
WHC '07 Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Haptic Palpation for the Femoral Pulse in Virtual Interventional Radiology
ACHI '09 Proceedings of the 2009 Second International Conferences on Advances in Computer-Human Interactions
Haptizing Surface Topography with Varying Stiffness Based on Force Constancy: Extended Algorithm
HAPTICS '08 Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Perceptualizing a “haptic edge” with varying stiffness based on force constancy
ICAT'06 Proceedings of the 16th international conference on Advances in Artificial Reality and Tele-Existence
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We believe that the lateral exploration of surfaces with varying stiffness, stiffness maps, using computer generated haptics is an underestimated and important procedure with impact in many application areas. Feeling the change of stiffness while sweeping the haptic probe over a surface can potentially give an understanding of the spatial distribution of this stiffness, however current algorithms lack tangential cues of stiffness changes. This introduces energy sources and sinks that potentially affects the stability of the system, apart from being physically incorrect and thus unrealistic. We discuss the forces and effects involved in the exploration of stiffness maps and propose an energy-based algorithm for tangential forces that augments the feedback from the map, in particular during lateral exploration. The algorithm is based on basic physical principles and has the potential to increase both realism and stability. A user study was conducted to analyze the effect of this algorithm on stiffness perception.