1. Tactile Rendering - Strategies
6/17/2018
Tactile Rendering - Strategies

2. Development Cycle
Implementation
Improvements
Experiments
Evaluation

3. 6/17/2018
First Implementation
Paper on “Tactile Discrimination of Paper” (Summers, Irvin): dimensions are roughness and stiffness

4. First Implementation
Simulated roughness depends on the direction of the movement but not on the position of the finger
Additional rendering of coarser structures for a more convincing simulation

5. Simple Approach Fallback position for first implementation
Simple idea: just trace the height profile with the pins

6. Realisation Development Level 2 Development Level 3
Improvement of the first implementation until a convincing simulation is achieved
Development Level 3
Consideration of normal force
Consideration of contact area