Haptic Texture Perception and Rendering for Personal Robotics

提出的工作重点是人与机器人的交互，即机器人对人类手的物理感知。具体地说，PI将研究机器人与人类手之间接触面的微观结构(纹理)，以推断触觉纹理感知的感知维度(感知模型)，并建立相关空间的映射。将研究产生直观和高效的合成纹理的方法。将开发渲染算法来合成具有所需感知质量的纹理。预计这项工作将有助于触觉感知、纹理研究和信息的多模式呈现的各个领域。

The proposed work focuses on human-robot interaction, namely on the robot physically sensing the human hand. Specifically, the PIs will study the microstructure (texture) of the contact surfaces between a robot and a human hand, to infer the perceptual dimensionality of haptic texture sensing (perceptual model), and establish the mapping of relevant spaces. Methods for producing intuitive and efficient synthetic textures will be investigated. Rendering algorithms will be developed for synthesizing textures with desired perceptual qualities. The work is expected to contribute to various areas of haptic perception, texture studies, and multimodal rendering of information.