Haptic texture generation using stochastic models and teleoperation

  • Young-Woo Nam
  • Tae-Jeong Jang
  • Mandayam A. Srinivasan
Regular Paper Robotics and Automation


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.


Haptics stochastic model teleoperation texture generation 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Young-Woo Nam
    • 1
  • Tae-Jeong Jang
    • 1
  • Mandayam A. Srinivasan
    • 2
    • 3
  1. 1.Department of Electronic and Communication EngineeringKangwon National UniversityChuncheonKorea
  2. 2.Touch Lab, Department of Mechanical Engineering and Research Laboratory of ElectronicsMassachusetts Institute of TechnologyCambridgeUSA
  3. 3.Department of Computer ScienceUniversity College LondonLondonUK

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