Tactile Paintbrush: A procedural method for generating spatial haptic texture

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations


In this work, we aim to represent tactile textures in such a way that a given texture may be "painted" onto a selected spatial region of a tactile display. We recorded a series of fingertip swipes across eleven textures and stored the data as spatial friction maps - friction as a function of position. We analyzed these maps with a space-frequency transform, and observed stochasticity in our physical measurements. We modeled the randomness in spectral magnitude across space with three distributions: Rayleigh, Rice, and Weibull. We analyzed the quality of parameterizations using goodness of model fit as well as consistency across multiple swipes of the same texture. We found that a two-parameter Weibull model best represented the measured data, and propose to use this model in the Tactile Paintbrush for applying virtual textures to spatial regions.

Original languageEnglish (US)
Title of host publicationIEEE Haptics Symposium 2016, HAPTICS 2016 - Proceedings
EditorsSeungmoon Choi, Katherine J. Kuchenbecker, Greg Gerling
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9781509009039
StatePublished - Apr 29 2016
Event24th IEEE Haptics Symposium 2016, HAPTICS 2016 - Philadelphia, United States
Duration: Apr 8 2016Apr 11 2016

Publication series

NameIEEE Haptics Symposium, HAPTICS
ISSN (Print)2324-7347
ISSN (Electronic)2324-7355


Other24th IEEE Haptics Symposium 2016, HAPTICS 2016
CountryUnited States

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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