Design and Implementation of Measurement-based Texture Force Rendering

摘要

Texture is a form of the microstructure details of object surface. When the object surface is explored by fingers,haptic texture is induced and leads to the perception of roughness. Accurate rendering of tactile texture is essential for realistic virtual environment and improving the performance of control. A haptic texture display approach was introduced based on real force measurements. The contact force was measured by simply stroking the surface with a micro force sensor mounted on the end of robotic arm.The variable force was analyzed and used for modeling the constraint force in virtual environment. The contact force was rendered and applied to the operator with 3-DOF PHANTOM Omni device. This method represents the physical feature of surface and take into account the velocity factor identified by psychophysics studies which garantees the high fidelity of rendering system. The simulation experiments were carried out and validity and practicability were proved.