Paper Info
Title
Dynamic Local Models for Stable Multi-Contact Haptic Interaction with Deformable Objects
Abstract
This paper describes a new technique for allowing multiple users to haptically interact with a set of deformable slowly-simulated objects in a stable manner Stability has been approached in the past by various researchers using passivity theory in order to avoid having to model the human operator closing the haptic loop. None of these solutions however can work well without the use of high update rates and thus break down in the case of haptic interaction with slowly simulated virtual environments such as the ones featuring highly precise deformable objects. This is particularly true for the case of surgical simulation with force feedback, where precision is a key issue and where complexity can reach high levels. The techniques presented in this paper are based on the concepts of local model for haptic interaction adapted to deformable objects. Such approach allows multiple users to stably interact with a same object while feeling the influence of other users on the same object. Experimental results employing a PHANTOM haptic interface are proposed for a simple example.
Year
DOI
Venue
2003
10.1109/HAPTIC.2003.1191248
HAPTICS
Keywords
Field
DocType
local model,deformable slowly-simulated object,deformable objects,multiple user,dynamic local models,phantom haptic interface,high update rate,haptic interaction,haptic loop,high level,stable multi-contact haptic interaction,precise deformable object,human factors,phantom,surgery,virtual reality,force feedback,haptic interface,computational modeling,virtual environment,stability,robots
Computer vision,Haptic interaction,Virtual reality,Human operator,Passivity theory,Computer science,Imaging phantom,Artificial intelligence,Haptic technology,Stereotaxy
Conference
ISBN
Citations 
PageRank 
0-7695-1890-7
23
1.22
References 
Authors
15
3
Name
Order
Citations
PageRank
Federico Barbagli156148.21
Kenneth Salisbury220919.99
Domenico Prattichizzo32079177.15