Roughness of Virtual Textures and Lateral Force Modulation

Part of the Springer Series on Touch and Haptic Systems book series (SSTHS)


We describe experiments that compared the perceived relative roughness of textured virtual walls synthesized with an accurately controlled haptic interface. Texture was modeled as a spatially modulated sinusoidal friction grating. The results indicate that both the modulation depth of the grating (A), and the coefficient of friction (μ) are strongly associated with the perceived roughness when increasing eitherA orμ. Changing the spatial period of the grating (l), however, did not yield consistent relative roughness judgement results, indicating that there is a weaker association.


Psychometric Function Spatial Period Relative Roughness Haptic Rendering Roughness Scale 
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This work was funded by a Collaborative Research and Development Grant “High Fidelity Surgical Simulation” fromnserc, the Natural Sciences and Engineering Council of Canada and by Immersion Corp., and by a Discovery Grant also fromnserc.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  1. 1.MontrealCanada

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