Paper Info
Title
A differential method for the haptic rendering of deformable objects
Abstract
This paper introduces a new method for the computation of contact forces during the haptic interaction between a rigid probe and a soft virtual object. Tradicional methods used to estimate forces inside a haptic loop are based on a penetration distance of the haptic probe inside the virtual objects. This unnatural approach creates some visual incoherences when simulating the contact with rigid objects, but works fine on the force estimation side. For soft objects however, the use of a penetration distance makes less sense and creates many problems both visually and haptically. We propose a method that considers the penetration of the probe inside the virtual object as being an approximation error, and performs an iterative model adjustment estimating a local elasticity for the deformable object. Forces are computed incrementally. The proposed approach is independent from any particular implementation used for simulating the deformable object. The force estimation is based on the actual shape of the object, considering its deformations, allowing multiple users to interact with a same object while feeling the influence of each other. Experimental results are presented.
Year
DOI
Venue
2006
10.1145/1180495.1180555
VRST
Keywords
Field
DocType
differential method,rigid object,rigid probe,haptic rendering,haptic probe,haptic interaction,penetration distance,haptic loop,soft object,virtual object,deformable object,soft virtual object,approximation error,virtual reality,haptic interface
Virtual reality,Computer graphics (images),Computer science,Contact force,Artificial intelligence,Haptic technology,Computation,Virtual image,Computer vision,Iterative and incremental development,Simulation,Approximation error,Stereotaxy
Conference
ISBN
Citations 
PageRank 
1-59593-321-2
2
0.42
References 
Authors
9
1
Name
Order
Citations
PageRank
Remis Balaniuk19415.46