Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
A Constraint-Based Technique for Haptic Volume Exploration
Proceedings of the 14th IEEE Visualization 2003 (VIS'03)
A Multirate Approach to Haptic Interaction with Deformable Objects Single and Multipoint Contacts
International Journal of Robotics Research
Local Model of Interaction for Haptic Manipulation of Rigid Virtual Worlds
International Journal of Robotics Research
ACM SIGGRAPH 2006 Courses
Introduction to 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
Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures
International Journal of Robotics Research
Presence: Teleoperators and Virtual Environments
Technical Section: Stable haptic rendering with detailed energy-compensating control
Computers and Graphics
Force Feedback Virtual Painting on Real Objects: A Paradigm of Augmented Reality Haptics
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
A run-time programmable simulator to enable multi-modal interaction with rigid-body systems
Interacting with Computers
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
Motion control of impedance-type haptic devices
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Extension of Colgate's passivity condition for variable-rate haptics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Interactive haptic rendering of high-resolution deformable objects
ICVR'07 Proceedings of the 2nd international conference on Virtual reality
Robustly Stable Haptic Interaction Control using an Energy-bounding Algorithm
International Journal of Robotics Research
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Using a fingertip tactile device to substitute kinesthetic feedback in haptic interaction
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
Human perception of haptic-to-video and haptic-to-audio skew in multimedia applications
ACM Transactions on Multimedia Computing, Communications, and Applications (TOMCCAP)
Stable adaptive algorithm for Six Degrees-of-Freedom haptic rendering in a dynamic environment
The Visual Computer: International Journal of Computer Graphics
Haptic manipulation of deformable objects in hybrid bilateral teleoperation system
Applied Bionics and Biomechanics
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Our group is interested in using haptic display for training tool use. Applications include training doctors to use tools during surgery, and training astronauts to use tools during EVA. This paper describes some of the challenges of creating realistic haptic perceptions of tool use. Many of these challenges stem from the importance of unilateral constraints during tool use. Unilateral constraints occur whenever rigid bodies collide, resisting the interpenetration of the bodies, but not holding the bodies together. To identify unilateral constraints, a tool/environment simulation must perform collision detection. To respond properly to a collision, the simulation must estimate the forces that ensue, and integrate the equations of motion. All of these computations must occur in real time, and the simulation as a whole must be stable (to ensure the user's safety). Approaches to these problems are described.