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Conception and Design of a Dual-Property Haptic Stimuli Database Integrating Stochastic Roughness and Elasticity

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Haptics: Understanding Touch; Technology and Systems; Applications and Interaction (EuroHaptics 2024)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 14769))

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Abstract

Understanding the interplay between surface roughness and material elasticity in haptic texture perception is important. In the real world, these characteristics do not occur isolated from one another, yet, the haptic perceptions of surface features and material properties are often investigated individually. This highlights the need for suitable stimulus material for haptic perceptual experiments. The present research details the manufacturing and validation of a database of stochastically-rough, elastic stimuli tailored for haptic perceptual experiments. The stimulus set comprises 49 3D-printed samples, offering a systematic variation in stochastic microscale roughness and material elasticity, replicating natural surface features without compromising experimental control. The surfaces were generated using an algorithm that produces randomly rough surfaces with well-defined spectral distributions, demonstrating fractal properties over a large range of length scales. Controlled variations in elasticity were implemented via variations of the printing material composition. Finally, we present preliminary perceptual data from two observers, illustrating the discriminability of the stimulus space for roughness and softness discrimination. This database aims to facilitate haptic research on material and texture perception, offering a controlled yet naturalistic set of stimuli to explore the intricate interplay between surface roughness and material elasticity in shaping haptic texture perception.

K. K. Driller and C. Fradet—These authors contributed equally to this research.

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Notes

  1. 1.

    The thickness of the stimuli and their comparatively flat surface leads to a large contact area with the roller of the printer, which increases the risk of head-bumper impacts, especially for the more flexible prints, where the roller cannot scrape away enough material and unwanted material gets stuck. Less curing results in the surface becoming less sticky during the printing process.

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Acknowledgments

We thank Roland Bennewitz and his team for providing the surface generation algorithm and for the optical profilometry measurements. We thank Joris van Dam for his assistance on the 3D-printing process as well as Nazih Mechbal and Cyril Gorny (Laboratoire PIMM) for their assistance on the contact profilometry. We acknowledge the funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Skłodowska-Curie Actions - Innovative Training Networks grant agreement H-Reality No 801413.

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Authors and Affiliations

  1. Sorbonne University, 75005, Paris, France

    Karina Kirk Driller & Vincent Hayward

  2. Delft University of Technology, 2628 CE, Delft, The Netherlands

    Karina Kirk Driller & Camille Fradet

  3. Reality Labs Research, Meta, Redmond, WA, 98052, USA

    Jess Hartcher-O’Brien

Authors
  1. Karina Kirk Driller
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  2. Camille Fradet
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  3. Vincent Hayward
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  4. Jess Hartcher-O’Brien
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Corresponding author

Correspondence to Karina Kirk Driller .

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Editors and Affiliations

  1. The University of Electro-Communications, Tokyo, Japan

    Hiroyuki Kajimoto

  2. University of Chicago, Chicago, IL, USA

    Pedro Lopes

  3. CNRS, Rennes, France

    Claudio Pacchierotti

  4. Koc University, Istanbul, Türkiye

    Cagatay Basdogan

  5. Italian Institute of Technology, Genova, Italy

    Monica Gori

  6. University of Lille, Lille, France

    Betty Lemaire-Semail

  7. University of Rennes, Rennes, France

    Maud Marchal

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Driller, K.K., Fradet, C., Hayward, V., Hartcher-O’Brien, J. (2025). Conception and Design of a Dual-Property Haptic Stimuli Database Integrating Stochastic Roughness and Elasticity. In: Kajimoto, H., et al. Haptics: Understanding Touch; Technology and Systems; Applications and Interaction. EuroHaptics 2024. Lecture Notes in Computer Science, vol 14769. Springer, Cham. https://doi.org/10.1007/978-3-031-70061-3_19

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  • DOI: https://doi.org/10.1007/978-3-031-70061-3_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-70060-6

  • Online ISBN: 978-3-031-70061-3

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