Haptic texture rendering based on vision

Meiqi Zhao; Ge Yu; Yu He

doi:10.1117/12.3032085

6 June 2024 Haptic texture rendering based on vision

Meiqi Zhao, Ge Yu, Yu He

Proceedings Volume 13175, International Conference on Computer Network Security and Software Engineering (CNSSE 2024); 131750X (2024) https://doi.org/10.1117/12.3032085
Event: 4th International Conference on Computer Network Security and Software Engineering (CNSSE 2024), 2024, Sanya, China

Abstract

During teleoperation tasks such as disinfection and cleaning inside the space station, the operator on the ground controls the robotic arm within the experimental cabinet to maintain continuous contact with areas of different texture properties by operating the handle of a haptic device. Therefore, real-time and stable haptic feedback can help operators distinguish between different contact areas and assist in completing various teleoperation tasks. This article constructs a 2.5D virtual model integrating shape and texture using curved texture images based on a visual approach. It proposes a textured haptic rendering algorithm, which includes two steps of collision detection and collision response, to achieve virtual force computation integrating contact force and texture force. Finally, the real-time performance and stability of the algorithm are evaluated through subjective and objective experiments.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Meiqi Zhao, Ge Yu, and Yu He "Haptic texture rendering based on vision", Proc. SPIE 13175, International Conference on Computer Network Security and Software Engineering (CNSSE 2024), 131750X (6 June 2024); https://doi.org/10.1117/12.3032085

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available