A Dynamic Virtual Environment for Haptic Interaction
نویسندگان
چکیده
We present a rigid-body simulation for multi-contact haptic interaction. The simulation is designed to make use of modern multiprocessor machines and the framework for this is discussed. An existing haptic rendering algorithm is extended to: facilitate simple implementation on a number of object types, enable the use of arbitrary objects as haptic cursors and allow multiple object contacts on the same haptic cursor. We also justify the use of hard-constraint based methods for rigid-body dynamics and discuss our implementation.
منابع مشابه
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...
متن کاملStable haptic interaction in a dynamic virtual environment
To carry out a stable haptic interaction with a dynamic virtual environment containing several moving and/or deformable bodies is challenging. To achieve this, we present a collision detection algorithm based on a segmentation of the space with a regular voxel grid. Interpenetration is quickly estimated using a sphere decomposition of the bodies. Thereafter, we use the voxel grid as a still ima...
متن کاملA framework for multi-contact multi-body dynamic simulation and haptic display
We present a general framework for the dynamic simulation and haptic exploration of complex virtual environments. This work builds on previous developments in simulation, haptics, and operational space control. The relations between the dynamic models used in simulation and the models originally developed for robotic control are also presented. This framework has been used to develop a simulato...
متن کاملExtending DIMPLE: a rigid body haptic simulator for interactive control of sound
We previously introduced DIMPLE, a software environment allowing the run-time creation of a physically dynamic, haptically-enabled virtual scene using the Open Sound Control (OSC) protocol [18]. Object properties could be requested over OSC to allow modulation of parameters for sound synthesis or visualization. Examples were given of PureData patches that controlled such scenes, making haptic v...
متن کاملHaptic Interaction within a Planar Environment
A haptic simulation environment to simulate planar threedegree-of-freedom motion has been developed by the authors. The system consists of a novel parallel manipulandum and associated control, collision detection and dynamic simulation software running on a QNX PC. This paper describes haptic interface control and outlines the control systems that have been designed for the haptic rendering of ...
متن کاملHaptic display for human interaction with virtual dynamic environments
Haptics is an emerging technology that permits direct “hands-on” interaction with a virtual environment. A haptic device uses mechanical actuators to physically push a user’s finger or hand to give the sensation that he or she would have when interacting with a real physical environment. These force feedback systems have many applications, from training a surgeon to perform an operation, to ass...
متن کامل