Six-DoF Haptic Rendering of Contact Between Geometrically Complex Reduced Deformable Models
نویسندگان
چکیده
منابع مشابه
3-dof Haptic Rendering
1. Introduction Haptic rendering enables a user to touch, feel, and manipulate virtual objects through a haptic interface (see Figure 1). The field has shown a significant expansion during the last decade. Since the publication of earlier review papers (Salisbury and Srinivasan, 1997; Srinivasan and Basdogan, 1997), new rendering techniques and several new applications have emerged (see the mor...
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The sophistication of simulations for training and analysis is increasing with users demanding higher quality virtual environments. Complex polygonal models are often required to achieve the desired realism but put a strain on the necessary frame rates. Haptic Feedback is now used in many simulations for applications ranging from medical training to virtual prototyping. With the high haptic upd...
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cially created tactile sensations. One important use of these displays is to recreate the experience caused by contact between a tool and an object. This capability can be useful in several applications, such as surgical simulators, because users experience an enhanced sense of realism when a haptic simulation is combined with a graphic simulation. Haptic displays require two essential subsyste...
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Virtual haptic interaction with simulated deformable bodies requires contact forces to be computed with reasonable approximations in real time. This paper makes use of St. Venant’s principle on concentrated loads, and Castigliano’s theory on deflection to show that when an elastic body is globally deformed, the point-force representation of a tool contact is a good approximation. However, when ...
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An approach is presented for realizing an order-of-magnitude improvement in spatial accuracy for voxel-based 6-DOF haptics. It trades constant-time performance for greater spatial accuracy. This helps to make 6-DOF haptics applicable to extraordinarily complex real-world task simulations, which often admit no other known solution short of physical mockup. A reduction of haptic fidelity is tacti...
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ژورنال
عنوان ژورنال: IEEE Transactions on Haptics
سال: 2008
ISSN: 1939-1412
DOI: 10.1109/toh.2008.1