A model for sharing haptic interaction

In this paper, we present new methods for sharing haptic interactions with other persons when touching real-world objects. Unlike the previous approaches, our system does not rely on a virtual model of the object being explored or the integration of visual/auditory modalities to augment the user's perception. We developed a prototype system that makes it possible to capture active haptic interactions on a transmitting side, and then, display them passively to a receiving side. To demonstrate the concept, we conducted human experiments using rubber samples and found that the relationship between the haptic sensations of the transmitting and receiving sides follows a power function, and the parameters of this function can be calibrated for the users of the system.