“On Determining the Haptic Smoothness of Force-Shaded Surfaces” by Yamashita, Fukui, Morikawa, Sato and Lindeman

  • ©Juli Yamashita, Yukio Fukui, Osamu Morikawa, Shigeru Sato, and Robert W. Lindeman



Interest Area:

    Gaming & Interactive


    On Determining the Haptic Smoothness of Force-Shaded Surfaces

Session/Category Title:   Haptics



    Force shading, a haptic counterpart of bump mapping, is effective in smoothing polygonally approximated curved surfaces. How “rough” such force-shaded approximations can be is shown in terms of displacement.


    1. Salisbury, K. et al. (1995). Haptic rendering: Programming touch interaction with virtual objects. ACM Symposium on Interactive 3D Graphics, 1995.
    2. Morgenbesser, H. B. & Srinivasan, M.A. (1996). Force shading for haptic shape perception. ASME Dynamics Systems and Control Division, 1996.
    3. Ruspini, D. et al. (1997). The haptic display of complex graphical environments. ACM SIGGRAPH 97.

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