The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
Intermediate representation for stiff virtual objects
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
A survey of surgical simulation: applications, technology, and education
Presence: Teleoperators and Virtual Environments
Haptic Rendering: Introductory Concepts
IEEE Computer Graphics and Applications
A Multirate Approach to Haptic Interaction with Deformable Objects Single and Multipoint Contacts
International Journal of Robotics Research
A Displacement Driven Real-Time Deformable Model For Haptic Surgery
HAPTICS '06 Proceedings of the Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
A differential method for the haptic rendering of deformable objects
Proceedings of the ACM symposium on Virtual reality software and technology
Haptic Rendering: Foundations, Algorithms and Applications
Haptic Rendering: Foundations, Algorithms and Applications
Contact Model for Haptic Medical Simulations
ISBMS '08 Proceedings of the 4th international symposium on Biomedical Simulation
A simple method for estimating the latency of interactive, real-time graphics simulations
Proceedings of the 2008 ACM symposium on Virtual reality software and technology
The Role of Haptics in Medical Training Simulators: A Survey of the State of the Art
IEEE Transactions on Haptics
The effects of cast shadows and stereopsis on performing computer-generated spatial tasks
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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In this paper we present a simulator for two-handed haptic interaction. As an application example, we chose a medical scenario that requires simultaneous interaction with a hand and a needle on a simulated patient. The system combines bimanual haptic interaction with a physics-based soft tissue simulation. To our knowledge the combination of finite element methods for the simulation of deformable objects with haptic rendering is seldom addressed, especially with two haptic devices in a non-trivial scenario. Challenges are to find a balance between real-time constraints and high computational demands for fidelity in simulation and to synchronize data between system components. The system has been successfully implemented and tested on two different hardware platforms: one mobile on a laptop and another stationary on a semi-immersive VR system. These two platforms have been chosen to demonstrate scaleability in terms of fidelity and costs. To compare performance and estimate latency, we measured timings of update loops and logged event-based timings of several components in the software.