Image shape perception is the key aspect of electrostatic tactile interaction in fields of virtual reality and human-computer interaction. This approach is widely applied in phones and tablets and has good portability. Synchronous visual-tactile feedback should be rendered to achieve tactile simulation of image texture when people use their devices to interact with virtual environments. The goal of electrostatic tactile rendering is to develop tactile rendering algorithms for images that can provide realistic and various tactile sensations to consumers. Tactile rendering techniques for details of image texture directly affect the effectiveness of electrostatic tactile feedback. To provide high clarity and various tactile sensations for an electrostatic tactile system

a new rendering model based on local texture feature is proposed. First

we utilize local Fourier transform to enhance texture detail features. Frequency domain components of shape and local texture

which are edge features by Fourier coefficients

are separated. Local texture properties are characterized with different Fourier coefficients. Then

to realize local texture rendering with tactile devices

a mapping model between local texture feature and driving signal is set up. Local texture features are scaled to correspond to the same level of electrostatic force levels. Local Fourier coefficients of texture are mapped to lateral friction forces. This mapping model builds a new relationship between texture feature and electrostatic tactile

and provides a basis to generate different tactile sensations for different images. Finally

we can control actuation signal magnitudes to generate different electrostatic tactile intensities according to psychological model of electrostatic force and actuation signal. This psychological model relates the perceived force to the controlled actuated voltage applied to the self-developed electrostatic tactile device. The model displays various tactile feelings according to a local texture feature that is touched. We conduct contrastive experiments of tactile texture perception to validate the electrostatic tactile rendering algorithm. Experiments results indicate that 62.5% of the participants preferred local texture force feedback than other gradient force feedbacks. Participants thought that texture perception

provided by electrostatic tactile rendering algorithm of local texture

were clearer than the electrostatic tactile-rendering algorithm of gradients. The local texture-rendering algorithm can also display fine texture details. With clearer texture

highly delicate electrostatic tactile sensations are perceived by users. This rendering model can simulate feelings of texture and edge for most images. This study efficiently enhances local texture features by separating texture and shape features in the frequency domain for most images. A mapping model of electrostatic tactile and local texture features are used to ensure realistic tactile perception feedback. This paper presents a generalized tactile rendering model to display textures for the electrostatic tactile system. Interactive virtual environment immersion can be effectively improved by local texture tactile interactive technology.