The Penn Haptic Texture Toolkit

Summary form only given, as follows. The Penn Haptic Texture Toolkit (HaTT) is a collection of 100 haptic texture and friction models, the recorded data from which the models were made, images of the textures, and the code and methods necessary to render these textures using an impedance-type haptic device such as a SensAble Phantom Omni. This toolkit was developed to provide haptics researchers with a method for comparing and validating their texture modeling and rendering methods. The included rendering code has the additional benefit of allowing others, both researchers and designers, to incorporate our textures into their virtual environments, which will lead to a richer experience for the user. This demo showcases the rendering portion of the toolkit by allowing users to feel all 100 modeled textures mapped to a sphere using a SensAble Phantom Omni. The 100 real texture samples will also be available for comparison.