How can stochastic and periodic textures be visuo-haptically rendered?

In this paper, we propose several texture rendering techniques. For each of them, texture data is either taken from images of real textures or generated thanks to our texture generator. Thus, the first part of this paper addresses the identification of the main characteristics of stochastic and periodic textures. It also describes how our texture generator works and how 2D textures may be built using the previous characteristics. The second part of this paper deals with the possibility of rendering texture data. We first show how the elevation map may be used to render texture forces using the model in position. Then, we describe how stochastic and periodic texture profiles may be generated thanks to pseudo real-time force computation using the model in force.