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In this paper, we propose a new format for haptic texture mapping which is not dependent on the haptic rendering setup hardware. Our “haptic material” format encodes ten elementary haptic features in dedicated maps, similarly to “materials” used in computer graphics. These ten different features enable the expression of compliance, surface geometry and friction attributes through vibratory, cutaneous and kinesthetic cues, as well as thermal rendering. The diversity of haptic data allows various hardware to share this single format, each of them selecting which features to render depending on its capabilities.
