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In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...

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Updated: Jun 5, 2026

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Published on: April 21, 2023

Measurement-based modeling of contact forces and textures for haptic rendering.

Jochen Lang¹, Sheldon Andrews

¹School of Information Technology and Engineering, University of Ottawa, 800 King Edward Ave., CBY A-516, Ottawa, ON K1N 6N5, Canada. jlang@site.uottawa.ca

IEEE Transactions on Visualization and Computer Graphics

|January 15, 2011

Summary

This study introduces a mobile system for capturing and recreating haptic textures, focusing on surface roughness and stiffness. It presents a novel method to estimate contact stiffness from touch probe data, enabling realistic haptic texture generation.

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Area of Science:

Robotics and Human-Computer Interaction
Materials Science and Engineering

Background:

Haptic texture is crucial for perceiving surface properties like roughness and stiffness.
Existing methods for haptic texture acquisition are often limited in mobility and scope.

Purpose of the Study:

To develop an interactive and mobile system for acquiring and synthesizing haptic textures.
To introduce a novel method for estimating contact stiffness using a handheld touch probe.

Main Methods:

Utilized a visually tracked handheld touch probe for surface interaction.
Developed an estimation method for contact stiffness based on acceleration and force measurements during stroking.
Measured the height-displacement profile of surfaces to generate haptic textures.

Main Results:

Established an experimental relationship between estimated stiffness and observed contact stiffness during compression.
Successfully generated haptic textures based on acquired surface data.
Demonstrated mapping of synthesized haptic textures onto coarse surface meshes.

Conclusions:

The developed system enables mobile acquisition and synthesis of haptic textures.
The novel stiffness estimation method provides a new way to characterize surface physical properties.
This work advances the creation of realistic haptic feedback for virtual and real objects.