Abstract
This paper reports real-time virtual haptization of, for example, a remote object surface based on highspeed 3-D shape measurement. With this system, the operator feels sense of touch as if following the object surface. We use a high-speed projector-camera system to realize real-time measurement, and a haptic device called PHAMToM to render virtual haptization. A dynamically changeable structured light is projected so that the projected slit ray intersects with a virtual touching point, which is determined by the stylus position of the haptic device. A camera image of this scene gives the positional relationship between the object surface and the virtual touching point. We use this relationship to generate force feedback such that the virtual touching point is piished back to the object surface.
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