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Overview of Haptic Data Acquisition, Parametrization, and Display



Concept of haptic material data acquisition, parametrization, and display.

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Collection of Building Material Haptic Database

We provide a large collection of materials based on a geological, chemical and biological naming convention.

C1 Wood


Processing Shape P Moisture Content
P1 veneered, tangential section X1 dry
P2 veneered, cross section Xy percentage of water in y %
P3 veneered, sliced/peeled
P4 natural, tangential section
P5 natural, cross section
P6 natural, sliced/peeled
S1 Softwood                
Spruce Douglasy Arolla Pine Silver Fir Larch  Pine  Cedar  Hemlock
Sequoia  Vavona
             
S2 Hardwood              
Alder Cottonwood Lime beech Walnut  Pear Cherry Apple
 Plum Plane Elm  Ash  Birch  Maple  Boxwood Oak
Robinia  Chestnut  Yang  Khaya  Dao  Mansonia  Obeche  Idigbo
Rosewood  Avodire  Sen  Bubinga  Eucalypt  Padauk  Opepe  Teak
Myrtle  Limba   Pepper Palm Abura  Zapatero  Makore  Mahagony  Muninga
 Wenge Macassar  Afrormosia  Zebrano  Okume Bintangor  Madrono  Courbaril
Purpleheart  Ramin  Iroko  Thuja  Ceylon Satinwood Willow  Jacaranda  Niangon
African Walnut Kambala  Utile  Hickory  Meranti  Ekki  Cocobolo  Sapele
Mutenye  Balau  Afzelia  Zebrano  Whitewood  Balsa  Bamboo  Gaboon




Processing Shape P Composition
P1 pressed X1 dry
P2 natural Xy percentage of cork in y %
S3 Barks              
Cork





Processing Shape P Color
P1 pressed X1 unprocessed brown
P2 refined X2 bleached
P3 crumpled X3 single-color painted
P4 corrugated X4 multi-color painted
P5 creped paper
P6 recycled
S4 Celluloids              
Cardboard Paper




Processing Shape P Composition
P1 pressed X1 pure
P2 laminated Xy percentage of main wooden component in y %

S5 Crafted Wood              
Compressed Wood Wood Shavings Wood Fibers


C2 Biodegradable




Processing Shape P Composition
P1 molded X1 pure
P2 woven Xy percentage of main fibers in y %


               
S1 Natural Fibers              
 Hemp  Flax  Coconut  Jute  Silk  Silk
               


Processing Shape P Composition
P1 woven X1 pure
P2 woven (flaked) Xy percentage of main fur in y %
P3 natural


S2 Fur              
 Sheep  Merino  Cashmere  Rabbit  Goat  Calf  Cow
               


Side P Originality X
P1 front side X1 original
P2 back side X2 artificial


S3 Animal Skin and Leather              
Cow  Reindeer  Calf  Nappa  Deer  Goat  Pork  Yak
Bison  Artificial Crocodile Artificial Turtle Artificial Snake Boar
               

C3 Polymers




Processing Shape P Composition
P1 injection-molded and flat X1 pure
P2 injection-molded and processed Xy percentage of main polymer in y %
P3 extruded
P4 blown film-extruded
P5 woven
P6 embossed
P7 mesh (> 5mm)
P8 mesh (< 5mm)


S1 Thermoplasts              


Processing Shape P Composition
P1 pressed X1 pure
P2 perforated Xy percentage of main polymer in y %
P3 moulded


S2 Thermosets              


Processing Shape P Composition
P1 injection-molded X1 pure
P2 foamed Xy percentage of main polymer in y %
P3 perforated


S3 Elastomers              


Processing Shape P Composition
P1 extruded X1 pure
Xy percentage of main carbon component in y %


S4 Carbon Fibers              


Processing Shape P Composition
P1 woven X1 pure
P2 mesh < 5mm Xy percentage of main component in y %
P3 mesh > 5mm


S5 Polymer Composites              
               

C4 Ceramics




Processing Shape P Composition
P1 sand-beamed or not glazed X1 pure
P2 polished, glazed Xy percentage of main component in y %


S1 Earthenware              
S2 Stoneware      
S3 Hightech Ceramics              
               

C5 Glasses




Processing Shape P Opacity X
P1 floated X1 transparent
P2 spun X2 nontransparent
P3 foamed Xy percentage of opacity in y %
P4 flung
P5 corrugated
P6 cut
P7 ornaments


S1 Crafted Glasses              
S2 Natural Glasses              
               

C6 Stones




Processing Shape P Composition X
P1 stacked X1 pure
P2 polished Xy percentage of main stone component in y %
P3 pointed
P4 sanded
P5 embossed


S1 Ignetious              


Processing Shape P Composition X
P1 embossed X1
P2 polished Xy percentage of main stone component in y %
P3 sand-beamed
P4 split
P5 sanded


S2 Sediments              


Processing Shape P Composition X
P1 flamed X1
P2 sand-beamed Xy percentage of main stone component in y %
P3 polished
P4 pointed


S3 Metamorphs              


Processing Shape P Cement Standardization Specification X
P1 beamed X1 CEM I Portland Cement
P2 pointed X2 CEM II Portland Cement Blends
P3 embossed X3 CEM III Slag-lime cements
P4 axed X4 CEM IV Pozzolan Cement
P5 charringed X5 CEM V Composite Cement
P6 corrugated


S4 Cement              
               
S5 Minerals              
               

C7 Metals




Processing Shape P Composition X
P1 steamrolled X1 pure
P2 polished Xy percentage of main metal component in y %
P3 casted


S1 Ferrous              
               


Processing Shape P Composition X
P1 steamrolled X1 pure
P2 polished Xy percentage of main metal component in y %
P3 irregularly folded
P4 perforated (< 5mm)
P5 perforated (> 5mm)
P6 rhombic mesh (< 5mm)
P7 rhombic mesh (> 5mm)
P8 corrugated
P9 square mesh


S2 Non-Ferrous                  
S3 Alloys              


Processing Shape P Fineness X (0000, 000, 00, 0, 1,...,5)
P1 woven X0000 very fine
X5 coarse


S4 Metal Fibers              


S5 Semiconductors              

C8 Composites




Processing Shape P Composition X
P1 pressed X1 pure
P2 covered/mixed Xy percentage of main component in y %
P3 steamrolled
P4 woven
P5 sanded


S1 Organic - Polymers              
S2 Polymer - Stone              
S3 Polymer - Metal              


Processing Shape P Grit Size X (times 10)
P1 flat X4 P 40
X8 P 80
X15 P 150
X24 P 240
X60 P 600


S4 Wood - Stone              


Processing Shape P Composition
P1 woven Xy percentage of component in y %


S5 Wood - Glass              
               




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Current Setup - Texplorer 2

The following video shows our Texplorer2 device, the novel recording procedure, parametrization, and display using a novel tactile display device (TCM2).



Hardware Setup
Hardware Setup
New Texplorer2 device.

Old 108 Texture Database

1) Meshes                
G1EpoxyRasterPlate G1FineAluminumMesh G1IsolatingFoilMesh G1MeshFloorCloth G1PlasticMeshVersion1 G1PlasticMeshVersion2 G1ProfiledAluminumPlate G1RhombAluminumMesh
G1RhombAluminumMeshVersion2 G1RoundAluminumMesh G1RubberMesh G1SquaredAluminumMesh G1TextileMeshVersion1
             
2) Stones              
G2Brick G2CrushedRock G2GraniteTypeVeneziano G2Marble G2RoofTile G2StoneTileVersion1 G2StoneTileVersion2 G2StoneTileVersion3
G2StoneTypeTerraCotta
               
3) Blank glossy surfaces              
G3AcrylicGlass G3AluminumPlate G3Brass G3CeramicPlate G3CeramicTile G3Copper G3EpoxyPlate G3Glass
G3StainlessSteel
               
4) Wood Types              
G4Bamboo G4Beech G4CherryTree G4CompressedWoodVersion1 G4CompressedWoodVersion2 G4CoreBeech G4Cork G4LaminatedWood
G4Larch G4ProfiledWoodPlate G4Teak G4WoodenPaper G4WoodTypeSilverOak
               
5) Rubbers              
G5FineRubber G5ProfiledRubberPlate G5RubberPlateVersion2 G5SolidRubberPlateVersion1 G5SolidRubberPlateVersion2
               
6) Fibers              
G6Carpet G6CoarseArtificialGrassFibers G6Fibers G6FineArtificialGrassFibers G6IsolatingFoilVersion1 G6IsolatingFoilVersion2 G6IsolatingFoilVersion3 G6RedSleaze
G6ScouringPadVersion1 G6ScouringPadVersion2 G6SheepSkin G6SteelWool G6Towel G6VelcroHooks G6VelcroLoops
               
7) Foams              
G7BumpyFoam G7CoarseFoam G7EpdmFoam G7FineFoamVersion1 G7FineFoamVersion2 G7FoamFoilVersion1 G7FoamPlate G7MediumFoam
G7MediumFoamVersion2 G7ProfiledFoam G7StyrofoamVersion1 G7StyrofoamVersion2
               
8) Foils and Papers              
G8BubbleFoil G8CarbonFoil G8Cardboard G8CardboardVersion2 G8GlitterPaperVersion1 G8GlitterPaperVersion2 G8HighDensityPolyethylen G8Paper
G8PlasticFoilVersion1 G8PlasticFoilVersion2 G8PlayingCardPaper G8RoughPaper G8Tarp G8WallpaperVersion1 G8WallpaperVersion2
               
9) Textiles and Fabrics              
G9BlueSatin G9FloorCloth G9FloorClothVersion2 G9FloorClothVersion3 G9GreenVelvet G9Jeans G9Kashmir G9Leather
G9LeatherVersion2 G9RedFleeze G9RedVelvet G9TableClothVersion1 G9TableClothVersion2 G9TextileVersion1 G9TextileVersion2 G9TextileVersion3
G9TextileVersion4
               

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Old Recording Setups

Two sets of data are recorded for this database.

Controlled Recordings


First, the textures are scanned under controlled conditions. Herein, all parameters are kept constant, except the applied force and scan velocity, which are explicitly controlled to allow for a systematic signal analysis. A specialised setup consisting of a rotary texture attachment and a PID-controlled Phantom Omnni is implemented for this purpose (compare to Fig. 1) . The inclination angle of the Omni is fixed, while either the applied force or the scan velocity is increased linearly. The main purpose of this controlled recordings is to test features and their variance against those two scan-time parameters. The following video gives an overview of the robot-controlled setup and recording process for the LMT Haptic Texture Database using a PhantomOmni(Sensable) device.






The following figures illustrate the hardware setup used for the texture recording. Left: complete setup with a customized rotary plate used to record the controlled signals. Center: The two marked joints are fixed to ensure upright posture of the stylus during the recording. Right: close-up of the customized stainless steel tool tip and the accelerometer mounted on the stylus.

Hardware Setup
Hardware Setup
Hardware Setup
Figure 1 (adopted from [1])

Unconstrained Recordings during Freehand Surface Material Exploration

The second set of texture signals is recorded under less constrained conditions. It consists of ten free hand recordings for each texture (five linear and five circular movements). These texture signals, recorded by a single subject following typical human exploratory movements, can serve as a test and training set for texture classification and recognition systems.

Hardware Setup
Hardware Setup
Figure 1 (adopted from [2])
The following videos give an overview of the Texplorer device and how a surface material is recorded.






The following image shows the used retrieval engine for surface material classification and retrieval of the most similar surface materials. Note that we use perceptually motivated features for surface material classifiaction. For perceptual evaluation, we use the outcome of a subjective experiment with 30 subjects to determine the perceived similarity between all surface materials.

Retrieval Engine.

The following image shows the perceptual similarity between all our surface materials.

Similarity Matrix resulting from a subjective experiment with 30 subjects.

Robotic Texplorer2

The following video shows our robotic Texplorer 2 setup.






Tactile Computer Mouse 1 and 2

Tactile Computer Mouse 1 (TCM1)

The following video shows our Tactile Computer Mouse prototype.



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Acknowledgments

The work presented on this web page has been financially supported by the ERC Starting Grant ProHaptics (grant agreement no. 258941, 2011-2015) and the DFG project STE 1093/6-1 (2016-2018) and STE 1093/8-1.

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Download

Licence

Download database - 184 materials (from TUM Collection of Building Materials) (zip file, 83484.0 MB)

Download database description) (txt file, 2 KB)

Download database (108 surface materials) (zip file, 3190.0 MB)

Download Similarity Results (zip file, 72.0 KB)

Download database (69 surface materials) v.1.4 (zip file, 6934.0 MB)

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FAQ

t.b.a.

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Contact

LMT

Chair of Media Technology
Technische Universitaet Muenchen

https://www.lmt.ei.tum.de

Arcisstrasse 21
Stammgelaende, Gebauude 9
80333 Muenchen

Persons involved:

Matti Strese
Clemens Schuwerk
Rahul Chaudhari
Eckehard Steinbach

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* The research presented on these web pages has received financial support by the German Research Foundation (DFG) under the project STE 1093/6-1 and 1093/8-1.


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