Name
Abstract | ||
|---|---|---|
Six-degree-of-freedom (6-DOF) haptic rendering is challenging when multi-region contacts occur between the graphic avatar of a haptic tool operated by a human user, which we call the graphic tool, and deformable objects. In this paper, we introduce a novel approach for deformation modeling based on a spring-sphere tree representation of deformable objects and a configuration-based constrained optimization method for determining the 6-dimensional configuration of the graphic tool and the contact force/torque response to the tool. This method conducts collision detection, deformation computation, and tool configuration optimization very efficiently based on the spring-sphere tree model, avoids inter-penetration, and maintains stability of haptic display without using virtual coupling. Experiments on typical dental operations are carried out to validate the efficiency and stability of the proposed method. The update rate of the haptic simulation loop is maintained at ~1kHz. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ICRA.2012.6224701 | ICRA |
Keywords | Field | DocType |
deformation computation,dental operations,tool configuration optimization,deformation modeling,deformable objects,6-dof haptic rendering,trees (mathematics),collision detection,spring-sphere tree representation,6-dof,configuration-based optimization,rendering (computer graphics),six-degree-of-freedom haptic rendering,dentistry,graphic avatar,graphic tool 6-dimensional configuration,spring-sphere tree,organ deformation,digital simulation,six-degree-of-freedom haptic simulation,haptic interfaces,multi-region contacts,multiregion contacts,medical computing,avatars,configuration-based constrained optimization method,contact force-torque response,optimization,6 dof,degree of freedom,force,torque,couplings,constrained optimization | Computer vision,Collision detection,Coupling,Torque,Simulation,Computer science,Contact force,Decision tree model,Artificial intelligence,Haptic technology,Computation,Constrained optimization | Conference |
Volume | Issue | ISSN |
null | null | 1050-4729 E-ISBN : 978-1-4673-1404-6 |
ISBN | Citations | PageRank |
978-1-4673-1404-6 | 3 | 0.42 |
References | Authors | |
13 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dangxiao Wang | 1 | 196 | 34.02 |
| Shuai Liu | 2 | 3 | 0.42 |
| Xin Zhang | 3 | 10 | 1.28 |
| Yuru Zhang | 4 | 253 | 44.66 |
| Jing Xiao | 5 | 169 | 12.49 |