Haptic texture rendering based on vision

Meiqi Zhao; Ge Yu; Yu He

doi:10.1117/12.3032085

6 June 2024 Haptic texture rendering based on vision

Meiqi Zhao, Ge Yu, Yu He

Proceedings Volume 13175, International Conference on Computer Network Security and Software Engineering (CNSSE 2024); 131750X (2024) https://doi.org/10.1117/12.3032085
Event: 4th International Conference on Computer Network Security and Software Engineering (CNSSE 2024), 2024, Sanya, China

Abstract

During teleoperation tasks such as disinfection and cleaning inside the space station, the operator on the ground controls the robotic arm within the experimental cabinet to maintain continuous contact with areas of different texture properties by operating the handle of a haptic device. Therefore, real-time and stable haptic feedback can help operators distinguish between different contact areas and assist in completing various teleoperation tasks. This article constructs a 2.5D virtual model integrating shape and texture using curved texture images based on a visual approach. It proposes a textured haptic rendering algorithm, which includes two steps of collision detection and collision response, to achieve virtual force computation integrating contact force and texture force. Finally, the real-time performance and stability of the algorithm are evaluated through subjective and objective experiments.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Meiqi Zhao, Ge Yu, and Yu He "Haptic texture rendering based on vision", Proc. SPIE 13175, International Conference on Computer Network Security and Software Engineering (CNSSE 2024), 131750X (6 June 2024); https://doi.org/10.1117/12.3032085

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KEYWORDS

Haptic technology

Visual process modeling

Visualization

Data modeling

Sensors

Control systems

Teleoperation

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