Vibration and Subsequent Collision Simulation of Finger and Object for Haptic Rendering

Humans can discriminate object's materials [5,7,9] and tapping position [8] perceiving tapping vibrations. Susa et al. [4] proposed to simulate natural vibration of object to present arbitrary structured objects. However, the vibration of the tapping finger and subsequent collisions between the finger and the object are not simulated. This paper proposes a simulation model for tapping, which considers finger's vibration motion and subsequent collisions between the object and the finger. Experimental results show that the proposed method renders realistic event based forces including impact impulse, decayed waves and subsequent collisions.