By Topic

Multirate simulation for high fidelity haptic interaction with deformable objects in virtual environments

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
$31 $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

2 Author(s)
Cavusoglu, M.C. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; Tendick, F.

Haptic interaction is an increasingly common form of interaction in virtual environment simulations. This medium introduces some new challenges. In this paper we study the problem arising from the difference between the sampling rate requirements of haptic interfaces and the significantly lower update rates of the physical models being manipulated. We propose a multirate simulation approach which uses a local linear approximation. The treatment includes a detailed analysis and experimental verification of the approach. The proposed method is also shown to improve the stability of the haptic interaction

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:3 )

Date of Conference: