{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,5]],"date-time":"2025-12-05T12:06:57Z","timestamp":1764936417520,"version":"3.41.0"},"reference-count":23,"publisher":"Association for Computing Machinery (ACM)","issue":"1","license":[{"start":{"date-parts":[[2006,1,1]],"date-time":"2006-01-01T00:00:00Z","timestamp":1136073600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Appl. Percept."],"published-print":{"date-parts":[[2006,1]]},"abstract":"<jats:p>In previous work, we demonstrated that people reliably perceive variations in surface roughness when textured surfaces are explored with a rigid link between the surface and the skin [e.g., Klatzky and Lederman 1999; Klatzky et al. 2003]. Parallel experiments here investigated the potential of a force-feedback mouse to render surfaces varying in roughness. The stimuli were surfaces with alternating regions of high and low resistance to movement in the x (frontal) dimension (called ridges and grooves, respectively). Experiment 1 showed that magnitude ratings of roughness varied systematically with the spatial period of the resistance variation. Experiments 2 and 3 used a factorial design to disentangle the contributions of ridge and groove width. The stimuli constituted eight values of groove width at each of five levels of ridge width (Experiment 2) or the reverse (Experiment 3). Roughness magnitude increased with ridge width while remaining essentially invariant over groove width. Kinematic variations in exploration were observed across the surfaces. The data point to the promise of using inexpensive devices to create virtual textural variations under conditions of unconstrained exploration.<\/jats:p>","DOI":"10.1145\/1119766.1119767","type":"journal-article","created":{"date-parts":[[2006,5,8]],"date-time":"2006-05-08T16:09:20Z","timestamp":1147104560000},"page":"1-14","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":30,"title":["The perceived roughness of resistive virtual textures"],"prefix":"10.1145","volume":"3","author":[{"given":"Roberta L.","family":"Klatzky","sequence":"first","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA"}]},{"given":"Susan J.","family":"Lederman","sequence":"additional","affiliation":[{"name":"Queen's University, Ontario, Canada"}]}],"member":"320","published-online":{"date-parts":[[2006,1]]},"reference":[{"key":"e_1_2_1_1_1","volume-title":"Proceedings of the 1st Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Computer Society","author":"Campion G.","year":"2005","unstructured":"Campion , G. and Hayward , V . 2005. Fundamental limits in the rendering of virtual haptic textures . Proceedings of the 1st Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Computer Society , Los Alamitos, CA. 263--270. 10.1109\/WHC. 2005 .61 Campion, G. and Hayward, V. 2005. Fundamental limits in the rendering of virtual haptic textures. Proceedings of the 1st Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Computer Society, Los Alamitos, CA. 263--270. 10.1109\/WHC.2005.61"},{"volume-title":"Proceedings of the 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Computer Society","author":"Choi S.","key":"e_1_2_1_2_1","unstructured":"Choi , S. and Tan , H. Z . 2002. An analysis of perceptual instability during haptic texture rendering . Proceedings of the 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Computer Society , Los Alamitos, CA. 1261--1268. Choi, S. and Tan, H. Z. 2002. An analysis of perceptual instability during haptic texture rendering. Proceedings of the 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Computer Society, Los Alamitos, CA. 1261--1268."},{"volume-title":"Proceedings of the 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Computer Society","author":"Choi S.","key":"e_1_2_1_3_1","unstructured":"Choi , S. and Tan , H. Z . 2003. An experimental study of perceived instability during haptic texture rendering: Effects of collision detection algorithm . Proceedings of the 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Computer Society , Los Alamitos, CA. 197--204. Choi, S. and Tan, H. Z. 2003. An experimental study of perceived instability during haptic texture rendering: Effects of collision detection algorithm. Proceedings of the 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Computer Society, Los Alamitos, CA. 197--204."},{"volume-title":"Third TIDE Congress Technology for Inclusive Design and Equality","author":"Colwell C.","key":"e_1_2_1_4_1","unstructured":"Colwell , C. , Petrie , H. , Kornbrot , D. , Hardwick , A. , and Furner , S . 1998. Use of a haptic device by blind and sighted people: Perception of virtual textures and objects . Presented at Third TIDE Congress Technology for Inclusive Design and Equality , Helsinki, Finland. Colwell, C., Petrie, H., Kornbrot, D., Hardwick, A., and Furner, S. 1998. Use of a haptic device by blind and sighted people: Perception of virtual textures and objects. Presented at Third TIDE Congress Technology for Inclusive Design and Equality, Helsinki, Finland."},{"volume-title":"Euro-Haptics Conference","author":"Drewing K.","key":"e_1_2_1_5_1","unstructured":"Drewing , K. , Ernst , M.O. , Lederman , S. J. , and Klatzky , R. L . 2004. Roughness and spatial density judgments on visual and haptic textures using virtual reality . Presented at Euro-Haptics Conference , Munich, Germany. Drewing, K., Ernst, M.O., Lederman, S. J., and Klatzky, R. L. 2004. Roughness and spatial density judgments on visual and haptic textures using virtual reality. Presented at Euro-Haptics Conference, Munich, Germany."},{"volume-title":"Proceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Society","author":"Ho P. P.","key":"e_1_2_1_6_1","unstructured":"Ho , P. P. , Adelstein , B. D. , and Kazerooni , H . 2004. Judging 2D versus 3D square-wave virtual gratings . Proceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Society , Los Alamitos, CA. 176--183. Ho, P. P., Adelstein, B. D., and Kazerooni, H. 2004. Judging 2D versus 3D square-wave virtual gratings. Proceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE Society, Los Alamitos, CA. 176--183."},{"key":"e_1_2_1_7_1","volume-title":"2nd European Conference on Disability, Virtual Reality, and Associated Technologies","author":"Jansson G.","year":"1998","unstructured":"Jansson , G. 1998 . Can a haptic force feedback display provide visually impaired people with useful information about texture, roughness and 3-D form of virtual objects? Presented at 2nd European Conference on Disability, Virtual Reality, and Associated Technologies , Skovde, Sweden. Jansson, G. 1998. Can a haptic force feedback display provide visually impaired people with useful information about texture, roughness and 3-D form of virtual objects? Presented at 2nd European Conference on Disability, Virtual Reality, and Associated Technologies, Skovde, Sweden."},{"key":"e_1_2_1_8_1","doi-asserted-by":"crossref","first-page":"591","DOI":"10.3758\/BF03205532","article-title":"Tactile roughness perception with a rigid link interposed between skin and surface","volume":"61","author":"Klatzky R. L.","year":"1999","unstructured":"Klatzky , R. L. and Lederman , S. J. 1999 . Tactile roughness perception with a rigid link interposed between skin and surface . Perception and Psychophysics , 61 , 591 -- 607 . Klatzky, R. L. and Lederman, S. J. 1999. Tactile roughness perception with a rigid link interposed between skin and surface. Perception and Psychophysics, 61, 591--607.","journal-title":"Perception and Psychophysics"},{"key":"e_1_2_1_9_1","unstructured":"Klatzky R. L. and Lederman S. J. 2002. Perceiving texture through a probe {chapter 10}. In Touch in Virtual Environments M. L. McLaughlin J. P. Hespanha and G. S. Sukhatme Eds. Prentice Hall Upper Saddle River NJ. 180--193.  Klatzky R. L. and Lederman S. J. 2002. Perceiving texture through a probe {chapter 10}. In Touch in Virtual Environments M. L. McLaughlin J. P. Hespanha and G. S. Sukhatme Eds. Prentice Hall Upper Saddle River NJ. 180--193."},{"key":"e_1_2_1_10_1","doi-asserted-by":"crossref","first-page":"613","DOI":"10.3758\/BF03194587","article-title":"Feeling textures through a probe: Effects of probe and surface geometry and exploratory factors","volume":"65","author":"Klatzky R. L.","year":"2003","unstructured":"Klatzky , R. L. , Lederman , S. J. , Hamilton , C. , Grindley , M. , and Swendsen , R. H. 2003 . Feeling textures through a probe: Effects of probe and surface geometry and exploratory factors . Perception and Psychophysics , 65 , 613 -- 631 . Klatzky, R. L., Lederman, S. J., Hamilton, C., Grindley, M., and Swendsen, R. H. 2003. Feeling textures through a probe: Effects of probe and surface geometry and exploratory factors. Perception and Psychophysics, 65, 613--631.","journal-title":"Perception and Psychophysics"},{"key":"e_1_2_1_11_1","first-page":"154","article-title":"Tactile roughness of grooved surfaces: The touching process and effects of macro- and microsurface structure","volume":"24","author":"Lederman S. J.","year":"1974","unstructured":"Lederman , S. J. 1974 . Tactile roughness of grooved surfaces: The touching process and effects of macro- and microsurface structure . Perception and Psychophysics , 24 , 154 -- 160 . Lederman, S. J. 1974. Tactile roughness of grooved surfaces: The touching process and effects of macro- and microsurface structure. Perception and Psychophysics, 24, 154--160.","journal-title":"Perception and Psychophysics"},{"key":"e_1_2_1_12_1","doi-asserted-by":"crossref","first-page":"498","DOI":"10.1037\/h0080750","article-title":"Tactual roughness perception: Spatial and temporal determinants","volume":"37","author":"Lederman S. J.","year":"1983","unstructured":"Lederman , S. J. 1983 . Tactual roughness perception: Spatial and temporal determinants . Canadian Journal of Psychology , 37 , 498 -- 511 . Lederman, S. J. 1983. Tactual roughness perception: Spatial and temporal determinants. Canadian Journal of Psychology, 37, 498--511.","journal-title":"Canadian Journal of Psychology"},{"key":"e_1_2_1_13_1","first-page":"1","article-title":"Perceiving roughness via a rigid probe: Psychophysical effects of exploration speed and mode of touch. Haptics-e","volume":"1","author":"Lederman S. J.","year":"1999","unstructured":"Lederman , S. J. , Klatzky , R. L. , Hamilton , C. L. , and Ramsay , G. I. 1999 . 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Perceiving surface roughness through a probe: Effects of applied force and probe diameter. Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 69-2. 1065--1071."},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1145\/1119766.1119768"},{"key":"e_1_2_1_18_1","first-page":"421","article-title":"Simulated haptic textures","volume":"58","author":"Minsky M. D. R.","year":"1996","unstructured":"Minsky , M. D. R. and Lederman , S. J. 1996 . Simulated haptic textures : Roughness. Proceedings of the ASME Dynamic Systems and Control Division 58. 421 -- 426 . Minsky, M. D. R. and Lederman, S. J. 1996. Simulated haptic textures: Roughness. Proceedings of the ASME Dynamic Systems and Control Division 58. 421--426.","journal-title":"Roughness. Proceedings of the ASME Dynamic Systems and Control Division"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation 1. 674--679","author":"Okamura A. 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Unpublished manuscript."},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation, IEEE Computer Society","author":"Siira J.","key":"e_1_2_1_23_1","unstructured":"Siira , J. and Pai , D. K . 1996. Haptic texturing---A stochastic approach . In Proceedings of the IEEE International Conference on Robotics and Automation, IEEE Computer Society , Los Alamitos, CA. 557--562. Siira, J. and Pai, D. K. 1996. Haptic texturing---A stochastic approach. In Proceedings of the IEEE International Conference on Robotics and Automation, IEEE Computer Society, Los Alamitos, CA. 557--562."},{"volume-title":"Proceedings of the ASME Dynamic Systems and Control Division 67","author":"Wall S. A.","key":"e_1_2_1_24_1","unstructured":"Wall , S. A. and Harwin , W. S . 1999. Modeling of surface identifying characteristics using Fourier series . Proceedings of the ASME Dynamic Systems and Control Division 67 . 65--71. Wall, S. A. and Harwin, W. S. 1999. Modeling of surface identifying characteristics using Fourier series. Proceedings of the ASME Dynamic Systems and Control Division 67. 65--71."},{"key":"e_1_2_1_25_1","first-page":"1","article-title":"Judging the orientation of sinusoidal and square-wave virtual gratings presented via 2-DOF and 3-DOF haptic interfaces. Haptics-e","volume":"1","author":"Weisenberger J. M.","year":"2000","unstructured":"Weisenberger , J. M. , Krier , M. J. , and Rinker , M. A. 2000 . Judging the orientation of sinusoidal and square-wave virtual gratings presented via 2-DOF and 3-DOF haptic interfaces. Haptics-e , The Electronic Journal of Haptics Research 1. 1 -- 20 . Weisenberger, J. M., Krier, M. J., and Rinker, M. A. 2000. Judging the orientation of sinusoidal and square-wave virtual gratings presented via 2-DOF and 3-DOF haptic interfaces. Haptics-e, The Electronic Journal of Haptics Research 1. 1--20.","journal-title":"The Electronic Journal of Haptics Research"}],"container-title":["ACM Transactions on Applied Perception"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1119766.1119767","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/1119766.1119767","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T15:06:14Z","timestamp":1750259174000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1119766.1119767"}},"subtitle":["I. rendering by a force-feedback mouse"],"short-title":[],"issued":{"date-parts":[[2006,1]]},"references-count":23,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2006,1]]}},"alternative-id":["10.1145\/1119766.1119767"],"URL":"https:\/\/doi.org\/10.1145\/1119766.1119767","relation":{},"ISSN":["1544-3558","1544-3965"],"issn-type":[{"type":"print","value":"1544-3558"},{"type":"electronic","value":"1544-3965"}],"subject":[],"published":{"date-parts":[[2006,1]]},"assertion":[{"value":"2006-01-01","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}