Model-Mediated Teleoperation for Remote Haptic Texture Sharing: Initial Study of Online Texture Modeling and Rendering

While model-mediated teleoperation (MMT) is an effective alternative for ensuring both transparency and stabil- ity, its potential in transmitting surface haptic texture is not yet explored. This paper introduces the first MMT framework capable of sharing surface haptic texture. The follower side col- lects physical signals contributing to haptic texture perception, e.g., high frequency acceleration, and streams them to the leader side. The leader side uses the signals to build and update a local measurement-based texture simulation model that reflects the remote surface. At the same time, the leader runs local simulation using the model, resulting in non-delayed, stable, and accurate feedback of texture. Considering that rendering haptic texture needs tougher real-time requirements, e.g., higher update rate and lower action-feedback latency, MMT can be a perfect platform for remote texture sharing. An initial proof- of-concept system supporting single and homogeneous surface is implemented and evaluated, demonstrating the potential of the approach.