Force shading and bump mapping using the friction cone algorithm

Melder, N. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2005) Force shading and bump mapping using the friction cone algorithm. In: World Haptics Conference: First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virutual Environment and Teleoperator Systems, Proceedings. Ieee Computer Soc, Los Alamitos, pp. 573-575. ISBN 0769523102

Abstract/Summary

Previous work has presented the friction cone algorithm, a generalised method to resolve forces on a simulated haptic object when two or more fingers are in contact. Two extensions to the friction cone algorithm are presented: force shading and bump mapping. Force shading removes the discontinuities that are present when transitioning from one face to the next, whilst bump mapping provides a mechanism for rendering haptic textures on polygonal surfaces. Both these extensions can be combined whilst still maintaining the friction cone algorithm's intrinsic ability to simulate arbitrarily complex friction models.