Haptic Rendering Of Macro-texture And The Design Of Related Display Device

In the traditional human-computer interaction,both the designer and the user focus mainly on the two most common modes of interaction-vision and hearing,but ignore other sensory modalities such as haptic sense.With people's high demand of immersion,the fusion of multi-sensory models is the inevitable trend of human-computer interaction.Consequently,the haptic interaction becomes the latest technology in this field.Through the haptic devices,the operators can perceive rich environmental information such as shape,hardness and surface texture of the virtual object or the distant objects,thereby enhancing the realism of the virtual environment.Texture perception is one of the difficult and hot spots in the field of haptics.In recent years,the tactile mechanism of texture is getting more and more clearer,resulting in the emergence of texture rendering devices.It is worth noting that the textures to render in these studies have interior spaces which are mostly in the millimeter level and below.This kind of textures could be called "fine texture".In contrast,the "macro texture" has space gap in centimeters and above,and it is considered as the special texture with tiny texture pattern covered on a curved surface.Compared with fine texture,macro texture contains richer surface information.Therefore,its haptic mechanism is bound to be more complex.Research activities have paid much attention on haptic display of fine texture,but less on haptic rendering of macro texture.This paper aims to reveal the haptic mechanism of macro texture,and to establish the haptic rendering model which is based on dynamic and active touch.This study is realized through synthesizing of the knowledge of biomechanics and motion control,physiological psychology,mathematical modeling and simulation,designing of haptic device,and carrying out of psychophysical experiments.In this study,we propose a new design for macro-texture perception through active and dynamic touch.Compared to the existing haptic devices at home and abroad which are passive,static,or non-direct contact,this design allows people to perceive the relevant information of the macro texture by using their index finger(bare finger)to dynamically touch the interface,and it can enhance the operator's feel of immersion in virtual environment.This study enriches the research of haptic representation mechanism of the surface texture,especially the macro texture.At the same time,this study explores the influence of the finger's touching mode on the texture cognition,providing important theoretical foundation for haptic display of object's surface information in the field of virtual reality and robotics.