Data-Driven Visuo-Haptic Rendering of Deformable Bodies

  • Matthias Harders
  • Raphael Hoever
  • Serge Pfeifer
  • Thibaut Weise
Part of the Springer Series on Touch and Haptic Systems book series (SSTHS)


Our current research focuses on the investigation of new algorithmic paradigms for the data-driven generation of sensory feedback. The key notion is the collection of all relevant data characterizing an object as well as the interaction during a recording stage via multimodal sensing suites. The recorded data are then processed in order to convert the raw signals into abstract descriptors. This abstraction then also enables us to provide feedback for interaction which has not been observed before. We have developed a first integrated prototype implementation of the envisioned data-driven visuo-haptic acquisition and rendering system. It allows users to acquire the geometry and appearance of an object. In this chapter we outline the individual components and provide details on necessary extensions to also accommodate interaction scenarios involving deformable objects.


Radial Basis Function Contact Point Optical Flow Iterative Close Point Haptic Feedback 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



This work was partly supported by the ImmerSence project within the 6th Framework Programme of the European Union, FET—Presence Initiative, contract number IST-2006-027141, see also


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Copyright information

© Springer-Verlag London Limited 2012

Authors and Affiliations

  • Matthias Harders
    • 1
  • Raphael Hoever
    • 1
  • Serge Pfeifer
    • 1
  • Thibaut Weise
    • 1
  1. 1.Computer Vision LabETH ZurichZurichSwitzerland

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