Yin, XinNomura, KazuyoshiTanaka, Hiromi T.Michael Ashley and Sorin Hermon and Alberto Proenca and Karina Rodriguez-Echavarria2014-01-312014-01-312008978-3-905674-14-91811-864Xhttps://doi.org/10.2312/VAST/VAST08/063-069The objects such as heritage objects can not be touched directly. Hence, some haptic devices were developed to permit users touch digital objects surface. These studies mainly confuse on developing haptic hardware, and the algorithm for synthesizing input signals were not studied well. A surface roughness measurement and input vibration signal synthesis techniques are proposed. To measure the surface roughness, some photos are taken using a fixed camera when the lighting changes its incidence direction. A surface normal image is obtained from these photos. Then vibration signal as input signal of cutaneous tactile device is synthesized. Adding the friction sound, the cutaneous tactile is enhanced and can got touch feeling well even using simple vibration tactile device. The system is consisted by 3D visual display, force feedback device and vibration tactile device. The effect of this system is demonstrated using virtual ancient heritage objects at the end.Categories and Subject Descriptors (according to ACM CCS): H.5.2 [User Interfaces]: Haptic I/O