By Topic

Stable haptic interaction in a dynamic virtual environment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
M. Davanne ; LIFL, Univ. des Sci. et Technol. de Lille, Villeneuve d''Ascq, France ; P. Meseure ; C. Chaillou

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 image of the environment to provide a fast intermediate model that computes the force feedback. It thus enables to simulate the environment at a slow rate (10-100 Hz) while controlling the haptic device at the required frequency (about 1 kHz).

Published in:

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference: