On Determining the Haptic Smoothness of Force-Shaded Surfaces

Fig.1 Sectional image of stimulus shape. A cylindrical surface, defined by resolution angle α, is interpolated in different ways. The axis of the cylinder is placed along the Z-axis, or toward the subject. d: Max. difference between the polygonal approximation and the true surface. Fig.3 Comparison of interpolation methods. Fig.2 Results of Expriment A. (b) Max. Difference for Threshold Angle