Stimulating the small forces when objects slide over the textured surface enriches the interaction between a user and a virtual world. A major design constraint for haptic textures is the generation of a sufficiently realistic texture given hard constraints on computational costs. A haptic texture presentation method based on the 3-DOF DELTA device was proposed. The height map of the texture surface was transformed from the image data with GAUSS filters, and the texture force and friction were calculated based on the geometry data. The simulated texture force was applied to the user when he/shi exploring the virtual surface with DELTA haptic device. The preliminary psychophysical experiments were performed to evaluate the quality of presentation.
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