The haptic display of complex graphical environments
Proceedings of the 24th 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
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
Can the Efficiency of a Haptic Display Be Increased by Short-Time Practice in Exploration?
Proceedings of the First International Workshop on Haptic Human-Computer Interaction
Application-based Evaluation of Haptic Interfaces
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Illumination for computer-generated images.
Illumination for computer-generated images.
An Experiment on Tracking Surface Features with the Sensation of Slip
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
A novel two-dimensional tactile slip display: design, kinematics and perceptual experiments
ACM Transactions on Applied Perception (TAP)
Contact Location Display for Haptic Perception of Curvature and Object Motion
International Journal of Robotics Research
Haptic discrimination of force direction and the influence of visual information
ACM Transactions on Applied Perception (TAP)
Quadrilateral mesh simplification
ACM SIGGRAPH Asia 2008 papers
A fingertip haptic display for improving curvature discrimination
Presence: Teleoperators and Virtual Environments
Fingerpad Skin Stretch Increases the Perception of Virtual Friction
IEEE Transactions on Haptics
Critical point analysis using domain lifting for fast geometry queries
Computer-Aided Design
Haptic display of contact location
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
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Current state-of-the-art haptic interfaces only provide kinesthetic (force) feedback, yet studies have shown that providing tactile feedback in concert with kinesthetic information can dramatically improve a person's ability to dexterously interact with and explore virtual environments. In this research, tactile feedback was provided by a device, called a contact location display (CLD), which is capable of rendering the center of contact to a user. The chief goal of the present work was to develop algorithms that allow the CLD to be used with polygonal geometric models, and to do this without the resulting contact location feedback being overwhelmed by the perception of polygonal edges and vertices. Two haptic shading algorithms were developed to address this issue and successfully extend the use of the CLD to 2D and 3D polygonal environments. Two experiments were run to evaluate these haptic shading algorithms. The first measured perception thresholds for rendering faceted objects as smooth objects. It was found that the addition of contact location feedback significantly increased user sensitivity to edges and that the use of shading algorithms was able to significantly reduce the number of polygons needed for objects to feel smooth. The second experiment explored the CLD device's ability to facilitate exploration and shape recognition within a 3D environment. While this study provided a validation of our 3D algorithm, as people were able to identify the rendered objects with reasonable accuracy, this study underscored the need for improvements in the CLD device design in order to be effectively used in general 3D environments.