Haptic Rendering of Interaction between Textured Models
Miguel A. Otaduy
Nitin Jain
Avneesh Sud
Ming C. Lin

Abstract: Surface texture is among the most salient haptic characteristics of objects; it can induce vibratory contact forces that lead to perception of roughness. In this paper, we present a new algorithm to compute contact forces and torques between textured objects using low-resolution geometric representations with texture images that encode surface details.  We introduce a novel force model based on directional penetration depth and describe an efficient implementation on programmable graphics hardware that enables interactive haptic texture rendering of complex models.  Our algorithm takes into account important factors identified by psychophysics studies and is able to haptically display interaction due to fine surface textures that existing algorithms do not capture.
Haptic Display of Interaction between Textured Models.

In the Proceedings of IEEE Visualization Conference, pp. 297-304. Austin, Tx. 2004.
Miguel A. Otaduy, Nitin Jain, Avneesh Sud and Ming C. Lin

pdf file (1.3MB).

A Perceptually-Inspired Force Model for Haptic Texture Rendering

In the Proceedings of Symposium on Applied Perception in Graphics and Visualization, pp. 123-126. Los Angeles, Ca. 2004.
Miguel A. Otaduy and Ming C. Lin

pdf file (700KB).

MS-MPEG4 video (16.5MB).
Interactive Applications by GAMMA group.

Sensation Preserving Simplification for Haptic Rendering.

6DOF Haptic Rendering Using Localized Contact Computations.

Earlier Work on 6DOF Haptic Rendering.

CLODs: Dual Hierarchies for Multiresolution Collision Detection.

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last updated: 04/18/04