Haptic texture generation using stochastic models and teleoperation

In this paper, a method is suggested to generate haptic textures for isotropic surfaces using stochastic models. A Master-Slave tele-haptic system was realized by using two PHANToMs. Moving the stylus of the Master PHANToM by a user caused the Slave to scratch the surface of objects such as sandpaper or printing paper. Force data, generated by using the error between the Master and the Slave positions, were recorded and served as measures of the texture of the object in the remote environment. An estimate of haptic texture was obtained after a simple dynamic compensation of the force data. The haptic texture was modeled using a filter that was designed by analyzing the power-spectrum of estimated texture data. By passing White Gaussian Noise through the filter, virtual texture data could be generated. The forces corresponding to the virtual texture and the real texture by teleoperation were individually delivered through the Master PHANToM to users who were asked to identify or discriminate the corresponding textures. The users’ responses show that the virtual modeled textures were quite similar to the real ones.