Hybrid Haptic Texture Rendering Using Kinesthetic and Vibrotactile Feedback

We present a hybrid haptic texture rendering framework for inhomogeneous texture with high realism. Themicro-geometry of a real texture sample is captured using photometric stereo and then rendered using a force feedback device. The vibrational response of the texture is expressed using a neural network-based data-driven model and re-created using a vibration actuator. The former represents the position-dependent geometric property while the latter delivers the invariant aspects including material properties. Our hybrid texture rendering system can improve the realism of virtual haptic texture rendering considerably, although formal verification awaits.