The Penn Haptic Texture Toolkit

The Penn Haptic Texture Toolkit (HaTT) is a publicly available repository of haptic texture models for use by the research community. The toolkit, available for download here, includes 100 haptic texture and friction models, the recorded data from which the models were made, images of the textures, and the code and methods necessary to render the textures using an impedance-type haptic interface such as a SensAble Phantom Omni. This toolkit was developed to provide haptics researchers with a method by which to compare and validate their texture modeling and rendering methods. Furthermore, the included rendering code allows both researchers and designers to incorporate our texture into their virtual environments, which can lead to a richer experience for the user.