The invention discloses a haptic
texture rendering method based on practical measurement, which is characterized in that after an operational
handle of haptic texture display equipment collides with the surface of a virtual texture,
resultant force of normal textural force, normal
binding force and tangential friction is taken as
contact force to be output to an operator. The normal textural force is obtained by measuring pressure which really scratches the surface of the texture, a mechanical arm which applies
constant force and is provided with a
pressure sensor at the bottom is used to scratch the surface of a textural material at a
constant speed and collect data meanwhile, and after error item correction, smoothness,
voltage value conversion, mechanical arm
constant force value subtraction of the data, the data are converted into the normal textural force; the modeling of the normal
binding force adopts a spring damping model; and the modeling of the tangential friction synthesizes a
static friction stage and a sliding friction stage, the modeling at the
static friction stage adopts the product of maximal
static friction and a sine function, a coefficient of
kinetic friction at the sliding friction stage is obtained by calculating the normal textural force reflecting the concave-convex degree of the texture, and the naturalness of the
texture rendering is improved.