Normal Touch and Texture Touch: 3 D Haptic Shape Controllers for Virtual Reality

NormalTouch and TextureTouch are mechanicallyactuated handheld controllers that render the shape of virtual objects through physical shape displacement, enabling users to feel 3D surfaces, textures, and forces that match the visual rendering. Both controllers are tracked with 6 DOF and produce spatiallyregistered haptic feedback to a users finger. NormalTouch haptically renders object surfaces and provides force feedback using a tiltable and extrudable platform. TextureTouch renders the shape of virtual