Haptic texture rendering using random fractal surface

In this paper, we presented a haptic texture modeling and rendering method using random fractal surface. Fractal is an effective way to render irregular surface in computer graphics, and it can be also effective for haptic texture rendering of irregular surfaces. Also, surface characteristics can be easily changed by setting parameter values of the fractal algorithm. We generated several random fractal surfaces and rendered them using force feedback device. As a result, the parameter value of fractal generation algorithm seems to be related to the perceptual characteristics like roughness and stickiness.