Physically based virtual painting
Communications of the ACM - Interactive immersion in 3D graphics
Toward Realistic Haptic Rendering of Surface Textures
IEEE Computer Graphics and Applications
Effects of network delay on a collaborative motor task with telehaptic and televisual feedback
VRCAI '04 Proceedings of the 2004 ACM SIGGRAPH international conference on Virtual Reality continuum and its applications in industry
The perceived roughness of resistive virtual textures: I. rendering by a force-feedback mouse
ACM Transactions on Applied Perception (TAP)
ACM Transactions on Applied Perception (TAP)
Introduction to haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Toward realistic haptic rendering of surface textures
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Perceived Instability of Virtual Haptic Texture. I. Experimental Studies
Presence: Teleoperators and Virtual Environments
Scaling and eliminating non-contact forces and torques to improve bilateral teleoperation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Geometric and haptic modelling of textile artefacts
VISUAL'07 Proceedings of the 9th international conference on Advances in visual information systems
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This paper presents a quantitative characterization of the instability that a human user often experiences while interacting with a virtual textured surface rendered with a force-reflecting haptic interface. Psychophysical experiments were conducted to measure the maximum stiffness under which virtual textured surfaces were perceived to be stable in a variety of conditions differing in texture model parameters, rendering method, and exploration mode. Unlike our previous study that used a collision detection algorithm with an inherent step change in force magnitude near the textured surface boundary [2 ], these experiments used an algorithm proposed by Ho et al. [8 ] that produces continuously changing force magnitudes at the cost of increased computational complexity. We found that the stiffness thresholds resulted from the collision detection algorithm of Ho et al. were not always higher than those obtained with the algorithm used in [2 ]. The stiffness thresholds depended on the texture rendering method and the exploration mode used in the experiments. We also discuss the types of instability experienced by the subjects and the corresponding characteristics of the proximal stimuli that invoked the perception of each type of instability. With this knowledge, our future work will investigate techniques to mitigate the problem of perceived instability.