Electrostatic tactile rendering of image based on shape from shading

Perception of images shape is the key point of electrostatic tactile interaction in the field of Virtual Reality and Human-Computer Interaction. In this paper, we present an electrostatic tactile-rendering algorithm for images shape feature under Gaussian bumps, which extracts heights of images shape by using the method of shape from shading. We analyze the force corresponding relationship between images shape and virtual shape and then build a tactile rendering model between shape feature and electrostatic force. Here we show that electrostatic tactile rendering algorithm has low complexity and good realtime performance. It is suitable for electrostatic tactile devices to perceive shapes and can achieve good haptic experience for tactile perception.