GMRV Publications

Optimization-Based Wearable Tactile Rendering

Alvaro G. Perez, Daniel Lobo, Francesco Chinello, Gabriel Cirio, Monica Malvezzi, José San Martín, Domenico Prattichizzo, Miguel A. Otaduy
IEEE Transactions on Haptics - 2017
Download the publication : ToHPerezLobo.pdf [1.7Mo]  
Alvaro Perez and Daniel Lobo contributed equally to this work and should be considered joint first authors.

Novel wearable tactile interfaces offer the possibility to simulate tactile interactions with virtual environments directly on our skin. But, unlike kinesthetic interfaces, for which haptic rendering is a well explored problem, they pose new questions about the formulation of the rendering problem. In this work, we propose a formulation of tactile rendering as an optimization problem, which is general for a large family of tactile interfaces. Based on an accurate simulation of contact between a finger model and the virtual environment, we pose tactile rendering as the optimization of the device configuration, such that the contact surface between the device and the actual finger matches as close as possible the contact surface in the virtual environment. We describe the optimization formulation in general terms, and we also demonstrate its implementation on a thimble-like wearable device. We validate the tactile rendering formulation by analyzing its force error, and we show that it outperforms other approaches.

Images and movies

video_frame.png [1.1Mo]
vToH.mp4 [27.8Mo]

BibTex references

  author       = "Perez, Alvaro G. and Lobo, Daniel and Chinello, Francesco and Cirio, Gabriel and Malvezzi, Monica and San Martín, José and Prattichizzo, Domenico and Otaduy, Miguel A.",
  title        = "Optimization-Based Wearable Tactile Rendering",
  journal      = "IEEE Transactions on Haptics",
  year         = "2017",
  url          = ""

Other publications in the database

» Alvaro G. Perez
» Daniel Lobo
» Francesco Chinello
» Gabriel Cirio
» Monica Malvezzi
» José San Martín
» Domenico Prattichizzo
» Miguel A. Otaduy