Macro-texture perception through active and dynamic touch

The tactile mechanism of texture perception is getting well figured out, resulting in the emergence of texture rendering devices. It is worth noting that the textures in these studies have interior space gap in the millimeter level and below. This kind of textures is called “fine texture”. In contrast, the "Macro texture" has space gap in centimeters and above, and it is considered as the special texture with tiny texture pattern covered on curved surface. Compared with fine texture, macro texture contains richer surface information, including both roughness and curvature. This paper aims to study the mechanism of macro texture perception, and establish active and dynamic touch-based haptic perception models.

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