Haptic texture rendering based on vision

During teleoperation tasks such as disinfection and cleaning inside the space station, the operator on the ground controls the robotic arm within the experimental cabinet to maintain continuous contact with areas of different texture properties by operating the handle of a haptic device. Therefore, real-time and stable haptic feedback can help operators distinguish between different contact areas and assist in completing various teleoperation tasks. This article constructs a 2.5D virtual model integrating shape and texture using curved texture images based on a visual approach. It proposes a textured haptic rendering algorithm, which includes two steps of collision detection and collision response, to achieve virtual force computation integrating contact force and texture force. Finally, the real-time performance and stability of the algorithm are evaluated through subjective and objective experiments.