ABSTRACT
Rendering of surface texture (i.e., fine geometric features on an object’s surface) is an important topic in haptics that has received increasing attention. The intrinsic surface property of texture is among the most salient haptic characteristics of objects. It can be a compelling cue to object identity and it can strongly influence forces during manipulation [Klatzky and Lederman 02]. In medical applications with limited visual feedback, such as minimally invasive or endoscopic surgery [Salisbury 99], and virtual prototyping applications of mechanical assembly and maintainability assessment [Wan and McNeely 03], accurate haptic feedback of surface detail is a key factor for successful dexterous operations.
