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A. Formaglio, G. Baud-Bovy, D. Prattichizzo. Virtual surface discrimination via an anisotropic-stiffness contact model. In Haptics: Generating and Perceiving Tangible Sensations. Eurohaptics 2010, 10.1007/978-3-642-14075-4$\_$42, A. Kappers, J. van Erp, W. Bergmann Tiest, F. van der Helm (eds.), 10.1007/978-3-642-14075-4$\_$42, Vol. 6192, pp. 291-296, Lecture Notes in Computer Science, Springer, Amsterdam, The Netherlands, 2010.

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In haptically enabled virtual reality, most existing devices render kinesthetic feedback via one 3DoF single-contact-point, thus they cannot stimulate tactily teh fingertip skin. This lack of information prevents the perception of contact surface orientation in absence of vision and of free exploratory movements. In this work we experimentally investigate the rendering performance of a contact model which exploits anisotropic contact stiffness to convey such information


Domenico Prattichizzo

BibTex Reference

   Author = {Formaglio, A. and Baud-Bovy, G. and Prattichizzo, D.},
   Title = {Virtual surface discrimination via an anisotropic-stiffness contact model},
   BookTitle = {Haptics: Generating and Perceiving Tangible Sensations. Eurohaptics 2010},
   editor = {Kappers, A. and van Erp, J. and Bergmann Tiest, W. and van der Helm, F.},
   Volume = {6192},
   Pages = {291--296},
   Series = {Lecture Notes in Computer Science},
   Publisher = {Springer},
   Address = {Amsterdam, The Netherlands},
   Year = {2010}

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