The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Large steps in cloth simulation
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Fast and accurate computation of polyhedral mass properties
Journal of Graphics Tools
Dynamic Local Models for Stable Multi-Contact Haptic Interaction with Deformable Objects
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
Intermediate representation for stiff virtual objects
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
Issues in the haptic display of tool use
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Sensation preserving simplification for haptic rendering
ACM SIGGRAPH 2003 Papers
Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
GI '04 Proceedings of the 2004 Graphics Interface Conference
Modeling deformable human hands from medical images
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Real-Time Soft-Finger Grasping of Physically Based Quasi-rigid Objects
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Real-Time subspace integration for St. Venant-Kirchhoff deformable models
ACM SIGGRAPH 2005 Papers
Local Model of Interaction for Haptic Manipulation of Rigid Virtual Worlds
International Journal of Robotics Research
Six Degree-of-Freedom Haptic Rendering Using Spatialized Normal Cone Search
IEEE Transactions on Visualization and Computer Graphics
Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments
IEEE Transactions on Visualization and Computer Graphics
Improving Contact Realism through Event-Based Haptic Feedback
IEEE Transactions on Visualization and Computer Graphics
Development of five-fingered haptic interface: HIRO-II
Proceedings of the 2005 international conference on Augmented tele-existence
A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties
IEEE Transactions on Visualization and Computer Graphics
Transparent Rendering of Tool Contact with Compliant Environments
WHC '07 Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Robust treatment of simultaneous collisions
ACM SIGGRAPH 2008 papers
Musculotendon simulation for hand animation
ACM SIGGRAPH 2008 papers
Haptic Rendering: Foundations, Algorithms and Applications
Haptic Rendering: Foundations, Algorithms and Applications
Staggered projections for frictional contact in multibody systems
ACM SIGGRAPH Asia 2008 papers
MasterFinger: Multi-finger Haptic Interface for Collaborative Environments
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Contact Model for Haptic Medical Simulations
ISBMS '08 Proceedings of the 4th international symposium on Biomedical Simulation
Six-DoF Haptic Rendering of Contact Between Geometrically Complex Reduced Deformable Models
IEEE Transactions on Haptics
Haptic rendering of complex deformations through handle-space force linearization
WHC '09 Proceedings of the World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Synthesis of interactive hand manipulation
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
A modular haptic rendering algorithm for stable and transparent 6-DOF manipulation
IEEE Transactions on Robotics
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In many haptic applications, the user interacts with the virtual environment through a rigid tool. Tool-based interaction is suitable in many applications, but the constraint of using rigid tools is not applicable to some situations, such as the use of catheters in virtual surgery, or of a rubber part in an assembly simulation. Rigid-tool-based interaction is also unable to provide force feedback regarding interaction through the human hand, due to the soft nature of human flesh. In this paper, we address some of the computational challenges of haptic interaction through deformable tools, which forms the basis for direct-hand haptic interaction. We describe a haptic rendering algorithm that enables interactive contact between deformable objects, including self-collisions and friction. This algorithm relies on a deformable tool model that combines rigid and deformable components, and we present the efficient simulation of such a model under robust implicit integration.