Abstract
This paper describes a method to present a force feedback from a manipulated rigid object colliding on a textured surface. The height variation of a surface is substituted by the fluctuated coefficient of friction on a planar surface to alleviate 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 evaluated this method by conducting a pair test which presented texture samples in a real space and a virtual space (with a haptic display). The result indicated a very high correct answer ratio regarding ten texture pairs.
