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中文摘要：
纹理的力触觉表达不仅能增强虚拟环境的真实感，还能用于盲人对环境的感知和信息获取。本文提出了一种新颖的算法。它是基于图像处理的方法提取纹理表面的几何轮廓，根据物体表面粗糙特性，分别建立法向和切向的接触力模型，通过6自由度DELTA手控器实时作用于操作者，让操作者感受到触摸虚拟物体表面的作用力，从而实现纹理的力触觉表达。最后通过与传统的几种图像纹理的力触觉建模和表达方法比较实验证明了此种方法的有效性。
英文摘要：
Texture display is an important issue in virtual reality. It not only can be used in virtual reality system but also can be used for the blind to acquire information in real world. In this paper a novel texture display method is proposed. Image processing method is used to extract the contour of the surface and acquire the textural features. Then a virtual contact force （in normal and/or tangential direction） model is established to simulate the interaction between human operator and the virtual object surface in haptie rendering. Based on a 6 DOF DELTA haptic device, simulation experiments were carried out; comparison with several traditional texture rendering methods testifies the validity of the proposed method.
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