Haptic interaction with global deformations
Zhuang, Y.
Canny, J.
Dept. of Comput. Sci., California Univ., Berkeley, CA;
This paper appears in: Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Publication Date: 2000
Volume: 3,
On page(s): 2428-2433 vol.3
Meeting Date: 04/24/2000 - 04/28/2000
Location: San Francisco, CA, USA
ISBN: 0-7803-5886-4
References Cited: 37
INSPEC Accession Number: 6683739
Digital Object Identifier: 10.1109/ROBOT.2000.846391
Current Version Published: 2002-08-06
Abstract
Force feedback coupled with a real-time physically realistic
graphic display provides a human operator with an artificial sense of
presence in a virtual environment. Furthermore, it allows a human
operator to interact with the virtual environment through
“touch”. We describe a haptic simulation system that allows
a human operator to perform real-time interaction with soft 3D objects
that go through large global deformations. We model and simulate such a
global deformation using geometrically nonlinear finite element methods
(FEM). We also introduce an efficient method that computes the force
feedback, in real-time, by simulating the collision between the virtual
“proxy” and the deformable object. To perceptually satisfy a
human operator, haptics requires a much higher update frequency (at
least 1000 Hz) than graphics. We update the graphics using full
simulation and interpolate the fully simulated states at a higher
frequency to render haptics. The interpolation is made possible by
intentionally delaying the display (both graphics and haptics) by one
full simulation cycle
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
