Sensation preserving simplification for haptic rendering
ACM SIGGRAPH 2003 Papers
Incremental Penetration Depth Estimation between Convex Polytopes Using Dual-Space Expansion
IEEE Transactions on Visualization and Computer Graphics
Haptic interaction with fluid media
GI '04 Proceedings of the 2004 Graphics Interface Conference
Physically Accurate Haptic Rendering with Dynamic Effects
IEEE Computer Graphics and Applications
A Constraint-Based Technique for Haptic Volume Exploration
Proceedings of the 14th IEEE Visualization 2003 (VIS'03)
Six Degree-of-Freedom Haptic Rendering Using Spatialized Normal Cone Search
IEEE Transactions on Visualization and Computer Graphics
Body-based haptic interaction model for touch-enabled virtual environments
Presence: Teleoperators and Virtual Environments
Sensation preserving simplification for haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties
IEEE Transactions on Visualization and Computer Graphics
Realistic haptic interaction in volume sculpting for surgery simulation
IS4TM'03 Proceedings of the 2003 international conference on Surgery simulation and soft tissue modeling
Accelerated haptic rendering of polygonal models through local descent
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Multiple-contact representation for the real-time volume haptic rendering of a non-rigid object
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Hi-index | 0.00 |
We present a six-degree-of-freedom haptic rendering algorithm using localized contact computations. It takes advantage of high motion coherence due to fast force update and spatial locality near the contact regions. We first decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchies for fast proximity queries. Once the objects are intersecting, the penetration depth (PD) is estimated in the contact neighborhood between each pair of decomposed convex pieces, using a new incremental method based on local optimization. Given the computed PD values, multiple contacts near a local region are clustered together to further speed up contact force determination. We have implemented these algorithms and applied them to complex contact scenarios consisting of multiple contacts.