To enhance immersion in virtual reality (VR) environments and improve the fidelity of virtual tactile interaction, this study proposes a perceptually grounded haptic-rendering framework for fine surface-texture simulation. The framework is centred on a Perceptual Haptic Spectrum Model (PHSM), which maps virtual surface attributes, including hardness, elasticity, roughness, friction, and microtexture periodicity, to multi-band tactile targets in perceptual frequency space. A Just Noticeable Difference (JND)-inspired parameterisation strategy is used as a design guideline to avoid imperceptible or redundant actuation, while region-specific response functions adapt the output to the fingertip centre, finger pad, and lateral edge. To improve reproducibility, the revised manuscript now specifies the flexible thin-film force/strain-sensor cell, array quantity, 320 Hz per-cell acquisition setting, signal-conditioning pipeline, contact-state classification rules, delay budget, and dual-actuation scheduling logic. The sensing design is based on a commercial flexible piezoresistive force-sensor cell with microsecond-level response time and a 12-bit ADC acquisition chain that provides a sufficient aggregate sampling margin for a 7–21 cell array. Manufacturer-supported sensor performance and prototype-level acceptance criteria are reported for response time, linearity, repeatability, hysteresis, drift, SNR, contact-state detection, latency, and durability. The system remains a proof-of-concept platform rather than a completed large-scale psychophysical validation. Within these boundaries, the results show coherent integration of perceptual modelling, multi-rate sensing, state monitoring, predictive feedforward control, and coordinated haptic actuation for fine VR texture rendering.
Xu et al. (2026) studied this question.