This paper describes experiments relating to the perception of the roughness of simulated surfaces via the haptic and visual senses. Subjects used a magnitude estimation technique to judge the roughness of virtual gratings presented via a PHANToM haptic interface device, and a standard visual display unit. It was shown that under haptic perception, subjects tended to perceive roughness as decreasing with increased grating period, though this relationship was not always statistically significant. Under visual exploration, the exact relationship between spatial period and perceived roughness was less well defined, though linear regressions provided a reliable approximation to individual subjects' estimates.
['S. A. Wall', 'William S. Harwin']
Interaction of visual and haptic information in simulated environments: Texture perception