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On the Synthesis of Haptic Textures

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2 Author(s)
Campion, G. ; Center For Intell. Machines, McGill Univ., Montreal, QC ; Hayward, V.

Advanced, synthetic haptic virtual environments require textured virtual surfaces. We found that texturing smooth surfaces often reduces the system passivity margin of a haptic simulation. As a result, a smooth virtual surface that can be rendered in a passive manner may loose this property once textured. We propose that any texture algorithm is associated with a characteristic number that expresses the relative change in loop gain. We further found that a passive virtual interaction can have severe unwanted artifacts if the synthesized force field is not conservative. The energy characteristics of seven algorithms are analyzed. Finally, a new texture synthesis algorithm, which operates by modulating a friction force during scanning, is shown to have several advantages over previous ones.

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Robotics, IEEE Transactions on  (Volume:24 ,  Issue: 3 )