Perceptual Substitution based Haptic Texture Rendering for Narrow-Band Reproduction

Research output: Contribution to conferencesPaperContributedpeer-review


Recorded high-resolution texture vibration contains perceptually redundant spectral information due to tactile limitations of human skin. Also, accurate reproduction of recorded texture vibration is often infeasible for widely available haptic reproduction systems at mobile devices. Usually, haptic actuators can only reproduce narrow-bandwidth vibration. With the exception of research setups, rendering strategies need to be developed, that utilize the limited capabilities of various actuator systems and tactile receptors while minimizing a negative impact on perceived quality of reproduction. Therefore, the aim of this study is to substitute recorded texture vibrations with perceptually sufficient simple vibrations. Accordingly, similarity of band-limited noise, single sinusoid and amplitude-modulated signals on display are rated compared to real textures. Considering that low and high frequency bands of noise signals might be implausible and redundant, different combinations of cut-off frequencies are applied to noise vibrations. Moreover, suitability of amplitude-modulation signals are tested for coarse textures in addition to single sinusoids because of their capability of creating pulse-like roughness sensation without too low frequencies. With the set of experiments, narrowest band noise vibration with frequencies between 90 Hz to 400 Hz is determined according to the fine textures. Furthermore, AM vibrations are found to be more congruent than single sinusoids to reproduce too coarse textures.


Original languageEnglish
Number of pages11
Publication statusPublished - 2023

External IDs

Scopus 85149894700
ORCID /0000-0001-5346-6021/work/142254543



  • Actuators, Cutoff frequency, Friction, Haptic, Haptic interfaces, Rendering (computer graphics), Resonant frequency, Vibrations, Vibrotactile, haptic perception, touch display, user-centered design