Virtual Surface Discrimination via an Anisotropic-Stiffness Contact Model

  • Alessandro Formaglio
  • Gabriel Baud-Bovy
  • Domenico Prattichizzo
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6192)


In haptically enabled virtual reality, most existing devices render kinesthetic feedback via one 3DoF single-contact-point, thus they cannot stimulate tactily teh fingertip skin. This lack of information prevents the perception of contact surface orientation in absence of vision and of free exploratory movements. In this work we experimentally investigate the rendering performance of a contact model which exploits anisotropic contact stiffness to convey such information.


perception grasping tactile contact 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Formaglio, A., Baud-bovy, G., Prattichizzo, D.: Is it possible to perceive the shape of an object without exploring it? In: Proceedings of Eurohaptics Conference, July 3-6, pp. 441–446 (2006)Google Scholar
  2. 2.
    Formaglio, A., Baud-Bovy, G., Prattichizzo, D.: Conveying virtual tactile feedback via augmented kinesthetic stimulation. In: Proceedings of International Conference on Robotics and Automation, ICRA, pp. 3995–4000 (2007)Google Scholar
  3. 3.
    Zilles, C.B., Salisbury, J.K.: A constraint-based god-object method for haptic display. In: Proc. IEE/RSJ International Conference on Intelligent Robots and Systems, Human Robot Interaction, and Cooperative Robots, vol. 3, pp. 146–151 (1995)Google Scholar
  4. 4.
    Harwin, W.S., Melder, N.: Improved Haptic Rendering for Multi-Finger Manipulation Using Friction Cone based God-Objects. In: Proceedings of Eurohaptics Conference, pp. 82–85 (2002)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Alessandro Formaglio
    • 1
  • Gabriel Baud-Bovy
    • 2
  • Domenico Prattichizzo
    • 1
    • 3
  1. 1.Department of Information EngineeringUniversity of SienaItaly
  2. 2.Vita-Salute San Raffaele University and IIT Network Research Unit of Molecular Neuroscience, San-Raffaele FoundationMilanItaly
  3. 3.Italian Institute of TechnologyGenovaItaly

Personalised recommendations