Haptic Reproduction of Different Human Skin Textures and Comparison of Rendering Approaches

抄録

To reproduce haptic sensations with slightly varying roughness, we propose a robust approach based on a three-dimensional (3D) surface image captured by a 3D microscope. This approach had a good effect on the reproduction of sandpaper. To confirm the versatility of other materials, this study attempts to reproduce the soft skin model and compare the reproduction effects of conventional and proposed approaches. The skin models were commercially available and prepared by copying the cheek skin of females in three age groups. Experiments were conducted under conditions in which only skin models were reproduced, and skin models and sandpapers with similar roughness were simultaneously reproduced. The results revealed that the proposed approach is effective in reproducing not only the macroscopic difference between sandpaper and skin models but also the fine difference in roughness within either of them with good reproducibility and discernibility.