Title :
Automatic filter design for synthesis of haptic textures from recorded acceleration data
Author :
Romano, Joseph M. ; Yoshioka, Takashi ; Kuchenbecker, Katherine J.
Author_Institution :
Haptics Group, Univ. of Pennsylvania, Philadelphia, PA, USA
Abstract :
Sliding a probe over a textured surface generates a rich collection of vibrations that one can easily use to create a mental model of the surface. Haptic virtual environments attempt to mimic these real interactions, but common haptic rendering techniques typically fail to reproduce the sensations that are encountered during texture exploration. Past approaches have focused on building a representation of textures using a priori ideas about surface properties. Instead, this paper describes a process of synthesizing probe-surface interactions from data recorded from real interactions. We explain how to apply the mathematical principles of Linear Predictive Coding (LPC) to develop a discrete transfer function that represents the acceleration response under specific probe-surface interaction conditions. We then use this predictive transfer function to generate unique acceleration signals of arbitrary length. In order to move between transfer functions from different probe-surface interaction conditions, we develop a method for interpolating the variables involved in the texture synthesis process. Finally, we compare the results of this process with real recorded acceleration signals, and we show that the two correlate strongly in the frequency domain.
Keywords :
data recording; filtering theory; haptic interfaces; image texture; linear predictive coding; rendering (computer graphics); transfer functions; automatic filter design; discrete transfer function; haptic rendering; haptic texture synthesis; haptic virtual environments; linear predictive coding; predictive transfer function; probe surface interaction synthesis; recorded acceleration data; Acceleration; Cognitive science; Filters; Haptic interfaces; Linear predictive coding; Probes; Signal synthesis; Surface texture; Transfer functions; Virtual environment;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509853