Improving Contact Realism through Event-Based Haptic Feedback
IEEE Transactions on Visualization and Computer Graphics
The Cobotic Hand Controller: Design, Control and Performance of a Novel Haptic Display
International Journal of Robotics Research
Surface Contact Interaction with Dynamically Deformable Object Using Impulse-Based Approach
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
High-fidelity visuo-haptic interaction with virtual objects in multi-modal AR systems
ISMAR '06 Proceedings of the 5th IEEE and ACM International Symposium on Mixed and Augmented Reality
Novel tactile display for emotional tactile experience
Proceedings of the International Conference on Advances in Computer Enterntainment Technology
A study on haptic interaction and simulation of motion and deformation of elastic object
Proceedings of the 2007 conference on Human interface: Part I
User-based evaluation of data-driven haptic rendering
ACM Transactions on Applied Perception (TAP)
Stylus-Based Tele-Touch System using a Surface Acoustic Wave Tactile Display
International Journal of Intelligent Mechatronics and Robotics
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Contact in a typical haptic environment resembles the experience of tapping on soft foam, rather than on a hard object. Event-based, high-frequency transient forces must be superimposed with traditional proportional feedback to provide realistic haptic cues at impact. We have developed a new method for matching the accelerations experienced during real contact, inverting a dynamic model of the device to compute appropriate force feedback transients. We evaluated this haptic rendering paradigm by conducting a study in which users blindly rated the realism of tapping on a variety of virtually rendered surfaces as well as on three real objects. Event-based feedback significantly increased the realism of the virtual surfaces, and the acceleration matching strategy was rated similarly to a sample of real wood on a foam substrate. This work provides a new avenue for achieving realism of contact in haptic interactions.