Abstract
Information about the texture of an object’s surface is crucial for its recognition and robust manipulation. During robotic teleoperation or interaction with a Virtual Reality, is important to feedback such information to the human user. However, most available solutions for haptic feedback are expensive and/or cumbersome. In this paper we propose a low cost and wearable system that allows users to feel the texture of physical objects by virtually rubbing them. Our main contributions are: i) a system for encoding a virtual representation of the texture of physical materials; ii) a system to haptically render such virtual representation on the user fingertips; iii) an experimental validation of the combined system in a object recognition task. We show that users can successfully recognize physical objects with different textures by virtually rubbing their surfaces using the proposed system.
This work is partially supported by the EPSRC UK (projects MAN\(^3\), EP/S00453X/1, and NCNR, EP/R02572X/1).
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Junput, B., Farkhatdinov, I., Jamone, L. (2020). Touch It, Rub It, Feel It! Haptic Rendering of Physical Textures with a Low Cost Wearable System. In: Mohammad, A., Dong, X., Russo, M. (eds) Towards Autonomous Robotic Systems. TAROS 2020. Lecture Notes in Computer Science(), vol 12228. Springer, Cham. https://doi.org/10.1007/978-3-030-63486-5_29
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