Haptic Rendering of Interaction between Textured Models

Surface texture is among the most salient haptic characteristics of objects; it can induce vibratory contact forces that lead to perception of roughness. In this paper, we present a new algorithm to compute contact forces and torques between textured objects using low-resolution geometric representations with texture images that encode surface details. We introduce a novel force model based on directional penetration depth and describe an efficient implementation on programmable graphics hardware that enables interactive haptic texture rendering of complex models. Our algorithm takes into account important factors identified by psychophysics studies and is able to haptically display interaction due to fine surface textures that existing algorithms do not capture