Tactile Internet (TI) is a networking paradigm with the goal of allowing for transfer of skill by transmitting haptic feedback. Accurate haptic feedback requires Ultra Low Latency (ULL), which severely limits the distance over which TI can be used. To address the ULL requirement, a local model can be used to generate haptics. For accurate haptic feedback generation, proper representation of smoothly curved objects is needed inside the model. Non
Uniform Rational B-Spline (NURBS) surfaces offer an expressive way of representing such objects, but must first be tessellated to a mesh. However, little is known about NURBS tessellation in the context of tactile internet. Therefore, this paper will discuss how to best tessellate NURBS surfaces for use in haptic feedback generation. A global spacing tessellation algorithm was implemented, and the resulting meshes were analyzed. Furthermore, a comprehensive user study was conducted to investigate the mesh quality necessary for smooth objects. Findings imply that careful selection of the tolerance is needed, to avoid over-burdening the model. A mesh tolerance of ϵ = 0.05mm is proposed as agood balance between spatial fidelity and simplicity of tessellated meshes