This chapter discusses the extension of the characteristic number of virtual haptic textures to the case of non flat surfaces. This extension shows that there is an effect of surface curvature on the passivity of haptics textures, but that there are other effects and artifacts that cannot be captured by the characteristic number. The chapter is concluded by examples of the characteristic number of two texture algorithms applied to a cilindrical curved surface.


Jacobian Matrix Anchor Point Interaction Point Characteristic Number Concave Surface 
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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  1. 1.MontrealCanada

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