Stable haptic interaction based on adaptive hierarchical shape matching

Enhanced Hierarchical Shape Matching for Shape Transformation

The quality of 3D object transformation very often relies on the quality of the matching between the two objects. Geometric considerations regarding scale, rotation and translation, and user defined constraints are used to control the matching. Nevertheless, more complex measures regarding volumetric or topological similarity between the shapes are more difficult to define even manually. Choosi...

Stable haptic interaction with virtual environments

A haptic interface is a kinesthetic link between a human operator and a virtual environment. This paper addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual world, to include both the impedance and admittance models of haptic int...

Stable Haptic Interaction with Switched Virtual Environments

This paper investigates haptic interaction with virtual environments composed of objects with diverse dynamic properties. Passivity is often used for stability analysis of haptic systems. We demonstrate that when the dynamics of the virtual environment during the interaction changes, the approaches using traditional notion of passivity fail. We then show that a recently proposed notion of passi...

An Adaptive Hierarchical Method Based on Wavelet and Adaptive Filtering for MRI Denoising

MRI is one of the most powerful techniques to study the internal structure of the body. MRI image quality is affected by various noises. Noises in MRI are usually thermal and mainly due to the motion of charged particles in the coil. Noise in MRI images also cause a limitation in the study of visual images as well as computer analysis of the images. In this paper, first, it is proved that proba...

Shape Matching Based on Invariants