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Reconstruction of surface texture based on spatial information measured with a pen-type texture sensor

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Abstract

Surface texture is one of the important properties for the human to identify objects by touch. Effective reconstructions of textures are necessary for realistic interactions between the human and environment via human–computer interfaces. This paper presents a systematic approach for sensing and reconstructing periodic surface textures. Three significant issues are discussed: a pen-type texture sensor that measures the spatial information based on the measurements of contact forces; an algorithm for the reconstruction of periodic textures based on the obtained spatial information; and the method of incremental scanning to identify the polar spectrum of a surface by limited number of scans. The concept of polar spectrum is introduced to describe the spatial properties of the surface, that is, the relation between spatial frequencies and the direction of measurement. The pattern of polar spectrum is used to facilitate surface reconstructions. Experimental results based on the spatial information obtained with a laser displacement sensor and the pen-type texture sensor demonstrate the effectiveness of the proposed methods for the measurement and reconstruction of periodic textures.

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Authors and Affiliations

  1. School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea

    Xianming Ye, Hyungpil Moon & Hyouk Ryeol Choi

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  1. Xianming Ye
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  2. Hyungpil Moon
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  3. Hyouk Ryeol Choi
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Corresponding author

Correspondence to Hyouk Ryeol Choi.

Additional information

Parts of this paper were published in IEEE International Symposium on Robot and Human Interactive Communication (IEEE RO-MAN) 2007 and 2009.

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Ye, X., Moon, H. & Choi, H.R. Reconstruction of surface texture based on spatial information measured with a pen-type texture sensor. Intel Serv Robotics 3, 183–198 (2010). https://doi.org/10.1007/s11370-010-0069-0

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  • DOI: https://doi.org/10.1007/s11370-010-0069-0

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