This work seeks to extend the paradigm of event-based hap-tics through analysis and simulation of the dynamics of probe-based interactions with small surface features. As the preliminary work in this area, this paper focuses on the case of moving a probe down a step from a high surface to a lower one. Event parameters can be computed from measurements of velocity and contact force as the probe is traversed across a small step height change in a real material. These parameters are then used to simulate the same change in a virtual environment. Comparison with standard position-based renderings of step discontinuities show significant improvements in perceived realism using the event-based approach.
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