Departmental Papers (MEAM)

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Data files updated 12/17/2013.

Rendering files updated and support for Windows application added 2/12/2014.


The Penn Haptic Texture Toolkit (HaTT) is a collection of 100 haptic texture and friction models, the recorded data from which the models were made, images of the textures, and the code and methods necessary to render these textures using an impedance-type haptic device such as a SensAble Phantom Omni. This toolkit was developed to provide haptics researchers with a method by which to compare and validate their texture modeling and rendering methods. The included rendering code has the additional benefit of allowing others, both researchers and designers, to incorporate our textures into their virtual environments, which will lead to a richer experience for the user.


haptic texture rendering, haptics, virtual reality

Additional Files

license.pdf (68 kB)
Copyright and permission notice (561736 kB)
Recorded data used to make texture models (569110 kB)
Recorded data used to make friction models (176955 kB)
Texture model files and images (170661 kB)
Texture rendering files for Linux computers (170567 kB)
Texture rendering files for Windows computers



Date Posted: 30 September 2013