![]() To evaluate the proposed approach, the acceleration and frictional forces under dynamic conditions were also measured directly. The acceleration-based vibration signal is obtained by quadratic differential transformation of the line roughness curve in the image and is then processed by an audio processing software to reproduce the textures of different sandpapers. To reproduce the haptic sensation when a finger directly contacts and explores them, we introduce a haptic rendering approach that measures the 3D surface height information under no-contact conditions. The reproduction objects are sandpapers with seven slightly different levels of roughness. The purpose of this research is to measure the roughness of the material surface precisely and reproduce the slightly different textures of a specific material. To achieve such high-quality haptic reproduction, a robust approach is needed to accurately capture the slight differences in the texture of a specific material and reproduce them as distinguishable. Although graphic rendering can achieve high precision for surface textures, the haptic sensation has not yet been reproduced to a degree close to the precision of visual reproduction. However, in the field of virtual reality, interaction with virtual objects with haptic feedback is considered an integral part of immersion ( Martel and Muldner, 2017 ). This allows computers to build a virtual environment that can achieve a high degree of similarity with the real environment. With the rapid development of computer graphics technologies, it has become possible to construct 3D models in which virtual objects have texture details that are visually almost indistinguishable from those of real objects. ![]() Thus, our approach provides a new reference for studies of bare finger interaction with rough surfaces. Experimental results showed that the conventional approach obtained sufficient discriminability with the assistance of force, whereas the proposed approach achieved higher reproducibility and discriminability by sole vibration. We conducted experiments with participants to evaluate the reproduction approach. A haptic device replaying acceleration-based vibrations by two audio speakers and producing tangential force by a motor-controlled liner slide was developed for reproduction. The real-time acceleration and frictional force were measured by an accelerometer and force sensor for comparison. The 3D surface images of sandpaper with different degrees of roughness were captured using a 3D microscope, and the line roughness curve was transformed into an acceleration curve by quadratic differential transformation. We propose a simpler yet robust approach based on the 3D measurement of the surface and compare it with the conventional approach. This measurement depends on the dynamic conditions during the exploration action, and slight differences in roughness are difficult to acquire accurately because of masking by shivering, low-pass filtering by the finger tissue, and sensor accuracy. When reproducing realistic virtual textures for bare finger interaction, an accelerometer attached to a fingernail is commonly used. ![]() Department of Informatics, The University of Electro-Communications, Chofu, Japan.
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