Jialu Li
ABSTRACT
In this paper, we present a new image-based method to display haptic texture information extracted from a static two dimensional image. The three dimensional forces allow the user to feel the contours and textures of the image with sufficient realism using haptic devices. The texture force is decomposed into a normal force component and a tangential force component at the haptic interaction point. The magnitude of the normal force is determined either by the color temperature (i.e. the emotions of warmth/coolness evoked by colors) or the luminance values in images. Warmer/brighter colors determine stronger normal forces to generate bumps, and cooler/darker colors determine weaker normal forces to produce depressions. The tangential force describes the relative color variation between haptic interaction point and its neighbors, thus, can be considered as a descriptor of the local texture feature. Because it is oriented to the pixels with cooler color in the neighborhood, when the user is exploring the bump by a haptic device, tangential resistive forces are sent to the user until the top of the bump is reached and, after the top, the virtual probe is pulled in the other direction. Our force model is by means of simple image processing techniques. The calculation is totally done by local, independent and direct operation. In other words, global operation such as recovering height maps is not necessary.
- Choi, S., and Tan, H. Z. 2004. Perceived instability of virtual haptic texture. i. experimental studies. Presence: Teleoperators and Virtual Environments 13, 4 (Aug.), 395--415. Google Scholar
Digital Library
- Fritz, J. P., and Barner, K. E. 1996. Stochastic models for haptic texture. In Proceedings of SPIE's International Symposium on Intelligent Systems and Advanced Manufacturing - Telemanipulator and Telepresence Technologies III, vol. 2901, The International Society for Optical Engineering, 34--44.Google Scholar
- He, D. C., and Wang, L. 1990. Texture unit, texture specturm, and texture analysis. IEEE Transactions on Geoscience and Remote Sensing 28, 4, 509--512.Google ScholarCross Ref
- Ho, C., Basdogan, C., and Srinivasan, M. A. 1999. Efficient point-based rendering techniques for haptic display of virtual objects. Presence: Teleoperators and Virtual Environments 8, 5, 477--491. Google ScholarDigital Library
- Katz, D., and Krueger, L. E. 1989. The world of touch. Hills-dale.Google Scholar
- Le, B. M., and Kheddar, A. 2005. A simple way of integrating texture in virtual environments for haptic rendering. In Proceedings of 2005 International Conference on Advanced Robotics, vol. 2005, 755--760.Google Scholar
- Lederman, S. J., and Klatzky, R. L. 1999. Sensing and displaying spatially distributed fingertip forces in haptic interfaces for teleoperator and virtual environment systems. Presence: Teleoperators and Virtual Environments 8, 1, 86--103. Google ScholarDigital Library
- Luckiesh, M. 1918. On retiring and advancing colors. American Journal of Psychology 29, 2, 182--186.Google ScholarCross Ref
- Minsky, M., and Lederman, S. J. 1996. Simulated haptic textures: roughness. In Proceedings of the ASME Dynamic Systems and Control Division, 421--426.Google Scholar
- Otaduy, M. A., and Lin, M. C. 2004. A perceptually-inspired force model for haptic texture rendering. In Proceedings of the 1st Symposium on Applied Perception in Graphics and Visualization, 123--126. Google ScholarDigital Library
- Otaduy, M. A., Jain, N., Sud, A., and Lin, M. C. 2005. Haptic display of interaction between textured models. In Proceedings of ACM SIGGRAPH 2005 Courses. Google ScholarDigital Library
- Payne, M. C. 1964. Color as an independent variable in perceptual research. Psychological Bulletin 61, 3, 199--208.Google ScholarCross Ref
- Revesz, G. 1950. Psychology and Art of the Blind. Longmans Green.Google Scholar
- Robles-De-La-Torre, G., and Hayward, V. 2001. Force can overcome object geometry in the perception of shape through active touch. Nature 412, 6845, 445--448.Google Scholar
- Sundet, J. M. 1978. Effects of colour on perceived depth: review of experiments and evaluation of theories. Scandinavian Journal of Psychology 19, 2, 133--143.Google ScholarCross Ref
- Vasudevan, H., and Manivannan, M. 2008. Tangible images: runtime generation of haptic textures from images. In Proceedings of Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems, 357--360. Google ScholarDigital Library
- Wu, J., Song, A. G., and Zou, C. G. 2007. A novel haptic texture display based on image processing. In Proceeding of the 2007 IEEE International Conference on Robotics and Biomimetics, 1315--1320.Google Scholar
Recommendations
Direct haptic rendering of isosurface by intermediate representation
VRST '00: Proceedings of the ACM symposium on Virtual reality software and technologyWith the development of volume visualization methods, we can easily extract meaningful information from volumetric data using interactive graphics and imaging. Haptic interaction of volumetric data adds a new modality to volume visualization that has an ...
Haptic Rendering of Virtual Hand with Force Smoothing
ICVRV '11: Proceedings of the 2011 International Conference on Virtual Reality and VisualizationIn this paper, we present methods to generate a stable and realistic force rendering between virtual hand and object for a hand rehabilitation system. There are multi-contact regions between hand and object. For each contact region, the virtual contact ...
Penalty-based haptic rendering technique on medicinal healthy dental detection
We present a penalty-based haptic rendering analysis method for medicinal dentistry diagnose simulation. The method is based on the locally optimized generalized penetration computation algorithm which computes the minimum translational and rotational ...
Comments