Interactive Scanning of Haptic Textures and Surface Compliance

Abstract

In modern computer graphics, 3D scanning is common practise for the acquisition of the geometry of objects. However, in addition to geometric models, physical models of interaction behaviour are required for the realistic representation of objects in arbitrary environments. In this paper, we introduce a hand-held scanning approach for the acquisition of physical surface texture (roughness) of realworld 3D objects. Our system utilizes a low-cost mobile touch probe and image-based tracking to allow an operator to interactively scan a real-world object and generate estimates of surface texture and compliance. These scans can be integrated into the 3D scanning pipeline, just as colour imagery can be included into the pipeline for the acquisition of visual texture. We demonstrate that the acquired surface properties are of sufficient quality to allow for haptic display of the scanned object.

Profile-based roughness discrimination with pen-type texture sensor

“…2(a). A similar haptic device, which is capable of measuring accelerations in three dimensions space and the normal contact force, is developed by Pai and Rizun and used for the acquisition of surface texture [14,15]. The pen-type sensor proposed in this paper consists of one aluminium probe with a hemispherical tip and three kinds of sensing elements: strain gauges, a force sensor, and a PVDF module, as shown in Fig.…”

Complementing visual tracking of moving targets by fusion of tactile sensing

“…Vision is used to generate a 3D model of an object and a force sensor to extract physical properties such as stiffness of the object [12]. Pomares et al combined a force sensor and an eye-in-hand camera using structured light to detect changes in the contact surface [13].…”

Data-Driven Haptic Rendering of Visco-Elastic Effects

“…In [2], surface properties like texture and compliance were obtained using the handheld device developed in [19]. A heuristic model to estimate compliance was also used, however, the accuracy was not discussed.…”