From Friction Measurement to Haptic Rendering with One Point-Based Haptic Device

We present a system from friction measurement to haptic rendering with ONE point-based haptic device. To present a high definition virtual object by haptic rendering, it is necessary to present a haptic impression such as the asperity, friction and stiffness while controlling the haptic device at more than 300-1000 Hz update rate. We have proposed several texture-based haptic rendering techniques at small amount of calculation and with high definition. However, in our previous techniques, the haptic texture such as the height map, normal map, friction map and stiffness map are not based on the measurement data in the real world. To present more realistic haptic impression, it is necessary to calculate the reaction force based on the measurement data in the real world. Therefore, we firstly developed a prototype system of a friction measurement and friction map generation. Secondly, we attempted a haptic rendering based on the measurement data. It is notable that our system enables these functions with ONE point-based haptic device. This paper describes a system from friction measurement to haptic rendering with one point-based haptic device.