Feeling and seeing: issues in force display

Abstract
.springs which pull the user's hand toward low regions an d away from high regions of a texture's depth map . W e synthesize finely spaced grooved surfaces and also us e depth data from Perlin's noise textures [Perlin851 an d fractals supplied by Pentland [Pentland841 . We also create feel-able physics such as variable viscosity soups, springs, and yo-yos (Color plate U . We believe it is particularly important to allow the user t o make exploratory motions as if they were touching rea l objects and materials [see Lederman871 . This informs ou r empirical studies and our design of future force displa y devices. Surfaces as perceived by the human haptic system deriv e from a complex combination of shape and materia l properties . Texture is one of the most important suc h properties . What is salient about a surface may also involv e other percepts, such as softness, apparent temperature, an d so forth [Katz251 . We believe that we can make compute r interface systems which can synthesize all of these; in orde r to do that we need to understand both the perceptual an d computational issues .

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