Conception and Design of a Dual-Property Haptic Stimuli Database Integrating Stochastic Roughness and Elasticity

Karina Kirk Driller; Camille Fradet; Vincent Hayward; Jess Hartcher-O’Brien

doi:10.1007/978-3-031-70061-3_19

Conception and Design of a Dual-Property Haptic Stimuli Database Integrating Stochastic Roughness and Elasticity

Karina Kirk Driller^*, Camille Fradet, Vincent Hayward, Jess Hartcher-O’Brien

^*Corresponding author for this work

Applied Ergonomics and Design

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

Abstract

Understanding the interplay between surface roughness and material elasticity in haptic texture perception is important. In the real world, these characteristics do not occur isolated from one another, yet, the haptic perceptions of surface features and material properties are often investigated individually. This highlights the need for suitable stimulus material for haptic perceptual experiments. The present research details the manufacturing and validation of a database of stochastically-rough, elastic stimuli tailored for haptic perceptual experiments. The stimulus set comprises 49 3D-printed samples, offering a systematic variation in stochastic microscale roughness and material elasticity, replicating natural surface features without compromising experimental control. The surfaces were generated using an algorithm that produces randomly rough surfaces with well-defined spectral distributions, demonstrating fractal properties over a large range of length scales. Controlled variations in elasticity were implemented via variations of the printing material composition. Finally, we present preliminary perceptual data from two observers, illustrating the discriminability of the stimulus space for roughness and softness discrimination. This database aims to facilitate haptic research on material and texture perception, offering a controlled yet naturalistic set of stimuli to explore the intricate interplay between surface roughness and material elasticity in shaping haptic texture perception.

Original language	English
Title of host publication	Haptics
Subtitle of host publication	Understanding Touch; Technology and Systems; Applications and Interaction
Editors	Hiroyuki Kajimoto, Pedro Lopes, Claudio Pacchierotti, Cagatay Basdogan, Monica Gori, Betty Lemaire-Semail, Maud Marchal
Place of Publication	Cham
Publisher	Springer
Pages	223-237
Number of pages	15
Volume	2
ISBN (Electronic)	978-3-031-70061-3
ISBN (Print)	978-3-031-70060-6
DOIs	https://doi.org/10.1007/978-3-031-70061-3_19
Publication status	Published - 2025
Event	14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2024 - Lille, France Duration: 30 Jun 2024 → 3 Jul 2024 https://eurohaptics.org/ehc2024/

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	14769 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2024
Abbreviated title	EuroHaptics 2024
Country/Territory	France
City	Lille
Period	30/06/24 → 3/07/24
Internet address	https://eurohaptics.org/ehc2024/

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Cue combination
Haptic texture database
Material elasticity
Surface roughness

Access to Document

10.1007/978-3-031-70061-3_19

Cite this

Driller, K. K., Fradet, C., Hayward, V., & Hartcher-O’Brien, J. (2025). Conception and Design of a Dual-Property Haptic Stimuli Database Integrating Stochastic Roughness and Elasticity. In H. Kajimoto, P. Lopes, C. Pacchierotti, C. Basdogan, M. Gori, B. Lemaire-Semail, & M. Marchal (Eds.), Haptics: Understanding Touch; Technology and Systems; Applications and Interaction (Vol. 2, pp. 223-237). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14769 LNCS). Springer. https://doi.org/10.1007/978-3-031-70061-3_19

Driller, Karina Kirk ; Fradet, Camille ; Hayward, Vincent et al. / Conception and Design of a Dual-Property Haptic Stimuli Database Integrating Stochastic Roughness and Elasticity. Haptics: Understanding Touch; Technology and Systems; Applications and Interaction. editor / Hiroyuki Kajimoto ; Pedro Lopes ; Claudio Pacchierotti ; Cagatay Basdogan ; Monica Gori ; Betty Lemaire-Semail ; Maud Marchal. Vol. 2 Cham : Springer, 2025. pp. 223-237 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Conception and Design of a Dual-Property Haptic Stimuli Database Integrating Stochastic Roughness and Elasticity",

abstract = "Understanding the interplay between surface roughness and material elasticity in haptic texture perception is important. In the real world, these characteristics do not occur isolated from one another, yet, the haptic perceptions of surface features and material properties are often investigated individually. This highlights the need for suitable stimulus material for haptic perceptual experiments. The present research details the manufacturing and validation of a database of stochastically-rough, elastic stimuli tailored for haptic perceptual experiments. The stimulus set comprises 49 3D-printed samples, offering a systematic variation in stochastic microscale roughness and material elasticity, replicating natural surface features without compromising experimental control. The surfaces were generated using an algorithm that produces randomly rough surfaces with well-defined spectral distributions, demonstrating fractal properties over a large range of length scales. Controlled variations in elasticity were implemented via variations of the printing material composition. Finally, we present preliminary perceptual data from two observers, illustrating the discriminability of the stimulus space for roughness and softness discrimination. This database aims to facilitate haptic research on material and texture perception, offering a controlled yet naturalistic set of stimuli to explore the intricate interplay between surface roughness and material elasticity in shaping haptic texture perception.",

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Driller, KK, Fradet, C, Hayward, V & Hartcher-O’Brien, J 2025, Conception and Design of a Dual-Property Haptic Stimuli Database Integrating Stochastic Roughness and Elasticity. in H Kajimoto, P Lopes, C Pacchierotti, C Basdogan, M Gori, B Lemaire-Semail & M Marchal (eds), Haptics: Understanding Touch; Technology and Systems; Applications and Interaction. vol. 2, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 14769 LNCS, Springer, Cham, pp. 223-237, 14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2024, Lille, France, 30/06/24. https://doi.org/10.1007/978-3-031-70061-3_19

Conception and Design of a Dual-Property Haptic Stimuli Database Integrating Stochastic Roughness and Elasticity. / Driller, Karina Kirk; Fradet, Camille; Hayward, Vincent et al.
Haptics: Understanding Touch; Technology and Systems; Applications and Interaction. ed. / Hiroyuki Kajimoto; Pedro Lopes; Claudio Pacchierotti; Cagatay Basdogan; Monica Gori; Betty Lemaire-Semail; Maud Marchal. Vol. 2 Cham: Springer, 2025. p. 223-237 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14769 LNCS).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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Driller KK, Fradet C, Hayward V, Hartcher-O’Brien J. Conception and Design of a Dual-Property Haptic Stimuli Database Integrating Stochastic Roughness and Elasticity. In Kajimoto H, Lopes P, Pacchierotti C, Basdogan C, Gori M, Lemaire-Semail B, Marchal M, editors, Haptics: Understanding Touch; Technology and Systems; Applications and Interaction. Vol. 2. Cham: Springer. 2025. p. 223-237. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-031-70061-3_19