Measuring and incorporating slip in data-driven haptic rendering.

In this paper we extended our data-driven haptic rendering approach towards slipping phenomena. In order to capture tool displacements on surfaces we designed a slip sensor based on an optical mouse sensor. Calibration experiments were performed to ensure accurate readings on rigid and deformable surfaces. For slow tool movements this calibration led to very accurate slip measurements. Moreover, we extended our rendering algorithm to incorporate slip measurements. For the rendering a simple slip model was evaluated. Results revealed that the slip model was able to reproduce some slip effects, however, not all dynamic phenomena could be recreated. To improve the rendering fidelity, a more sophisticated model will be required.