Haptic perception of macro texture

Abstract

The studies of texture perception focused mainly on displaying the textures with interior space gap in the millimeter level and below. We could call this kind of texture “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 curved surface. Macro texture contains richer surface information, including both roughness and curvature. This paper introduces a haptic device which could represent sinusoidal macro texture through active and dynamic touch with bare finger.