Skip to main content
Haptography: Capturing and Recreating the Rich Feel of Real Surfaces
Departmental Papers (MEAM)
  • Katherine J Kuchenbecker, University of Pennsylvania
  • Joseph Romano, University of Pennsylvania
  • William McMahan, University of Pennsylvania
Document Type
Conference Paper
Date of this Version

Suggested Citation:
Katherine J. Kuchenbecker, Joseph M. Romano, and William McMahan. (2011) "Haptography: Capturing and recreating the rich feel of real surfaces." 14th International Symposium on Robotics Research. Lucerne, Switzerland. August 31 - September 3, 2009. DOI: 10.1007/978-3-642-19457-3_15

The final publication will be available at in Springer Tracts in Advanced Robotics, v. 70.

Haptic interfaces, which allow a user to touch virtual and remote environments through a hand-held tool, have opened up exciting new possibilities for applications such as computer-aided design and robot-assisted surgery. Unfortunately, the haptic renderings produced by these systems seldom feel like authentic re-creations of the richly varied surfaces one encounters in the real world. We have thus envisioned the new approach of haptography, or haptic photography, in which an individual quickly records a physical interaction with a real surface and then recreates that experience for a user at a different time and/or place. This paper presents an overview of the goals and methods of haptography, emphasizing the importance of accurately capturing and recreating the high frequency accelerations that occur during tool-mediated interactions. In the capturing domain, we introduce a new texture modeling and synthesis method based on linear prediction applied to acceleration signals recorded from real tool interactions. For recreating, we show a new haptography handle prototype that enables the user of a Phantom Omni to feel fine surface features and textures.
  • haptic modeling,
  • haptic rendering,
  • haptography
Citation Information
Katherine J Kuchenbecker, Joseph Romano and William McMahan. "Haptography: Capturing and Recreating the Rich Feel of Real Surfaces" (2011)
Available at: