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My thesis is online at the Digital Library of MIT Theses.

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Abstract: Computational haptics is the art and science of creating system that interact with the sense of touch. To simulate surface textures we constructed a haptic interaction system called Sandpaper, which uses a force-feedback joystick and a novel lateral-force gradient algorithm. Using this system, we created haptic simulations of mechanical systems, solid materials, real-world surface textures, non-physical materials, and some haptic representations of medical imagery, and a user interface prototype. (More]