Abstract: In image-based haptic texture rendering methods,converting color an image to gray-scale in which the texture is defined as gray-scale variation usually leads to loss of texture information.In this paper,texture is defined as color variation and a method of haptic texture rendering color image is proposed.In the proposed method,lateral forces are computed by a pixel force field algorithm,normal forces are computed by a penalty-based haptic rendering method,and constraint space is determined by both value and hue according to color-space psychology effects.Resultant of forces is fed back to the users.Experimental results show the method is feasible to haptically texture render color images.