SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Feeling and seeing: issues in force display
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Intermediate representation for stiff virtual objects
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
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
A Development of High Definition Haptic Controller
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Improving Contact Realism through Event-Based Haptic Feedback
IEEE Transactions on Visualization and Computer Graphics
Hi-index | 0.00 |
In this study, we developed and evaluated a 10kHz high definition haptic rendering system which could display at real-time video-rate (60Hz). Our proposal required both fidelity and stability in a multi-rate system, with a frequency ratio of approximately 160 times. To satisfy these two criteria, there were some problems to be resolved. To achieve only stability, we could use a virtual coupling method to link a haptic display and a virtual object. However, due to its low coupling impedance, this method is not good for realization of fidelity and quality of manipulation. Therefore, we developed a multi-rate system with two level up-samplings for both fidelity and stability of haptic sensation. The first level up-sampling achieved stability by the virtual coupling, and the second level achieved fidelity by 10kHz haptic rendering to compensate for the haptic quality lost from the coupling process. We confirmed that, with our proposed system, we could achieve both stability and fidelity of haptic rendering through a computer simulation and a 6DOF haptic interface (SPIDAR-G) with a rigid object simulation engine.