Generation of Height-Map Images with Desired Haptic Sensation Based on Image Features

In this paper, we propose a method for generating height-map images that can achieve surface texture with the haptic sensation desired by the user. A texture plate was generated based on the height-map image, and a haptic data set was generated through questionnaire evaluation when subjects freely touched the plate. Next, we constructed a haptic estimation model using features based on image decomposition methods and confirmed that haptic sensation can be estimated from image features. Then, we set up a method to calculate evaluation values for haptic and visual impressions and set up an objective function using these values. Finally, we confirmed that we can generate height-map images with the desired haptic sensation by optimizing the objective function to minimize it through verification with a test set.