抄録
This paper describes a method for rendering of tactile texture by a haptic display. The height variation of a surface is substituted by the fluctuated coefficient of friction on a planar surface to alleviate to alleviate the amount the amount of calculation introduced by complicated geometry. The coefficient of friction is calculated from a local gradient of a surface height map. For adding a sensation of perpendicular force variation, a surface normal force is augmented by the amount of height at the contact point. We set three parameters which are needed to control the behavior of the calculate model. The parameter of frictional component decreased as cylinder diameter increased, and the parameter for height value about with the diameter of a cylinder. Then evaluation of this method by using the geometrical model of textures is discussed.
