# Streamlining Haptic Design with Micro-Collision Haptic Map Generated by Stable Diffusion +
## 5 Discussion  
### Generative MCHa Map  
**First, our MCHa map offers a structural advantage for real-time interaction.** Although traditional methods can achieve good performance in Consistency and in the Realism of certain materials when the user's brushing speed is controlled, due to carefully designed feedback that matches the expected collision patterns, our method shows greater advantages during free exploration. This may explain why our method received higher Overall ratings (Figure 8). Unlike traditional approaches that rely on pre-designed, uni-directional tactile sequences, our method supports interactive feedback during free-form exploration. It accommodates touches in any direction, providing a more realistic and immersive haptic experience.  
In particular, our method demonstrates a significant advantage in the discriminability of fine textures. Such textures often require users to explore them repeatedly from multiple directions to be recognized, and our approach clearly outperforms traditional methods in this aspect (Figure 9). Compared with existing methods, our approach demonstrates  
Figure 9: The result of identification accuracy. This figure shows the result of user identification accuracy. The deep red represents the group of professional haptic designers with generative MCHa (GPG). The light red represents the group of professional haptic designers with traditional methods (GP). The deep blue represents the group of non-haptic designers with our MCHa methods (GUG). The light blue represent the group of non-haptic designers with traditional methods (GU). Bar heights represent the means; significance levels are indicated with asterisks.  
superior performance in both mechanistic rationale and practical implementation: The work of [PERSON] et al. [8] also realized end-to-end haptic feedback, but their method cannot achieve free exploration of haptic textures like MCHa due to the limitations of the haptic data. The work of [PERSON] et al. [10] is based on the micro-contact mechanics, where vibration feedback signals are mapped from the height map of virtual textures. Their method shows good discrimination for simple textures when using specific actuators. However, in free exploration and an absolute identification experiment, the recognition accuracy of users is lower than that of the MCHa map. [PERSON] et al. [11] also used a VAE model to generate haptic data and proposed a visual-tactile cross-modal generative algorithm to enhance the consistency between visual and tactile modalities, but it cannot directly apply the generated output to the actuator input, as our method does. Compared with those prior works, the novelty of our work is in the micro-collision-based haptic feedback. We treat the interaction with virtual textures as a sequence of collision feedback on a virtual plane, simplifying the generation of tactile textures while retaining the texture's tactile features. Additionally, by integrating Stable Diffusion, we enable direct generation of haptic textures from natural language prompts, which can directly drive vibration actuators, significantly simplifying the haptic interaction design process.  
In summary, our method offers an elegant and efficient way for designers to generate both visual texture maps and matching MCHa maps directly from textual prompts. This not only helps professional haptic designers improve efficiency and reduce workload but also enables non-experts to quickly create usable haptic feedback.