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HapTex: A Database of Fabric Textures for Surface Tactile Display

Jian Jiao , State Key Lab of Virtual Reality Technology and Systems, Beihang University, jiaojian2jiaojian@163.com

Yuru Zhang , State Key Lab of Virtual Reality Technology and Systems, Beihang University, yuru@buaa.edu.cn

Dangxiao Wang, State Key Lab of Virtual Reality Technology and Systems, Beihang University, hapticwang@buaa.edu.cn

Yon Visell , Department of Electrical and Computer Engineering, University of California at Santa Barbara, yonvisell@ece.ucsb.edu

Xingwei Guo , State Key Lab of Virtual Reality Technology and Systems, Beihang University, guoxingwei09@foxmail.com

Xiaoying Sun , College of Communication Engineering, Jilin University, sunxy@jlu.edu.cn

Overview

In this work, we introduce a database of fabric textures defined by friction force during bare-finger and real-fabric interaction. The database includes the friction force, the normal force applied by the finger, friction coefficient, displacement and velocity of the finger. These data were acquired when sliding a fingertip across 120 kinds of fabrics. We illustrate the application of the database through one example, which allows users to feel virtual texture on an electrostatic tactile display. To obtain realistic performance, the input voltage of the device was modulated by a voltage amplification factor according to user’s perception. The voltage amplification factor corresponding to each of the 120 fabrics is also included in the database.

Figure 1. 120 kinds of fabrics for the establishment of tactile texture database.

(a) Whole schematic design of the measurement system

(b) Physical prototype of the measurement system.

Figure 2. Force and displacement measurement system.

(a) Full view of measurement.

(b) Posture of fingertip scanning across a fabric surface.

Figure 3. Force and displacement measurement of finger moving on fabric surface.

(a) Mean value of friction coefficient.

(b) Standard deviation of friction coefficient.

Figure 4. A recorded original signal data for one of 120 fabric samples.

(a) Full view of test.

(b) Detailed view of experiencing a virtual tactile texture.

Figure 5. The electrostatic tactile display device used in this work.



Download: FabricPicture.rar
Download: FrictionDisplacement.rar
Download: VoltageAmplificationFactor.rar