Encountered-type haptic rendering provides realistic, free-to-touch, and move-and-collide haptic sensation to a user. However, inducing haptic-texture sensation without complicated tactile actuators is challenging for encountered-type haptic rendering. In this paper, we propose a novel texture synthesizing method for an encountered-type haptic display using spatial and temporal encoding of roughness, which provides both active and passive touch sensation requiring no complicated tactile actuation. Focused on macro-scale roughness perception, we geometrically model the textured surface with a grid of hemiellipsoidal bumps, which can provide a variety of perceived roughness as the user explores the surface with one's bare hand. Our texture synthesis method is based on two important hypotheses. First, we assume that perceptual roughness can be spatially encoded along the radial direction of a textured surface with hemiellipsoidal bumps. Second, perceptual roughness temporally varies with the relative velocity of a scanning human hand with respect to the surface. To validate these hypotheses on our spatiotemporal encoding method, we implemented an encountered-type haptic texture rendering system using an off-the-shelf collaborative robot that can also track the user's hand using IR sensors.

中文翻译：

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使用时空编码为遭遇型触觉显示器合成纹理表面的粗糙度

遭遇型触觉渲染为用户提供逼真的、自由触摸的和移动和碰撞的触觉感觉。然而，在没有复杂触觉致动器的情况下诱导触觉纹理感觉对于遇到类型的触觉渲染具有挑战性。在本文中，我们提出了一种新的纹理合成方法，用于使用粗糙度的空间和时间编码的接触式触觉显示器，它提供了不需要复杂触觉驱动的主动和被动触摸感觉。专注于宏观尺度的粗糙度感知，我们用半椭圆形凹凸网格对纹理表面进行几何建模，当用户徒手探索表面时，它可以提供各种感知的粗糙度。我们的纹理合成方法基于两个重要的假设。第一的，我们假设感知粗糙度可以沿着具有半椭圆形凸起的纹理表面的径向方向进行空间编码。其次，感知粗糙度随扫描人手相对于表面的相对速度而随时间变化。为了验证我们的时空编码方法的这些假设，我们使用现成的协作机器人实现了一个遇到类型的触觉纹理渲染系统，该系统还可以使用红外传感器跟踪用户的手。