Haptic rendering: programming touch interaction with virtual objects
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Direct haptic rendering of sculptured models
Proceedings of the 1997 symposium on Interactive 3D graphics
Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
Direct haptic rendering of isosurface by intermediate representation
VRST '00 Proceedings of the ACM symposium on Virtual reality software and technology
A fast implicit integration method for solving dynamic equations of movement
VRST '01 Proceedings of the ACM symposium on Virtual reality software and technology
Shape retaining chain linked model for real-time volume haptic rendering
VVS '02 Proceedings of the 2002 IEEE symposium on Volume visualization and graphics
Algorithmic issues in modeling motion
ACM Computing Surveys (CSUR)
IEEE Transactions on Visualization and Computer Graphics
Large haptic topographic maps: marsview and the proxy graph algorithm
I3D '03 Proceedings of the 2003 symposium on Interactive 3D graphics
Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
Display of holistic haptic sensations by combined tactile and kinesthetic feedback
Presence: Teleoperators and Virtual Environments - Special section: Advances in interactive multimodal telepresent systems
Haptics-Based Dynamic Implicit Solid Modeling
IEEE Transactions on Visualization and Computer Graphics
Spatial constraint method: a new approach to real-time haptic interaction in virtual environments
Presence: Teleoperators and Virtual Environments - Special issue: Advances in collaborative virtual environments
Haptic Rendering: Introductory Concepts
IEEE Computer Graphics and Applications
High-Fidelity Haptic Synthesis of Contact with Deformable Bodies
IEEE Computer Graphics and Applications
A Haptic-Rendering Technique Based on Hybrid Surface Representation
IEEE Computer Graphics and Applications
Force constancy and its effect on haptic perception of virtual surfaces
ACM Transactions on Applied Perception (TAP)
A voxel based multiresolution technique for soft tissue deformation
Proceedings of the ACM symposium on Virtual reality software and technology
Multi-resolution haptic interaction of hybrid virtual environments
Proceedings of the ACM symposium on Virtual reality software and technology
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
Contact Location Display for Haptic Perception of Curvature and Object Motion
International Journal of Robotics Research
Local Model of Interaction for Haptic Manipulation of Rigid Virtual Worlds
International Journal of Robotics Research
Cutting on Triangle Mesh: Local Model-Based Haptic Display for Dental Preparation Surgery Simulation
IEEE Transactions on Visualization and Computer Graphics
Improving Contact Realism through Event-Based Haptic Feedback
IEEE Transactions on Visualization and Computer Graphics
Interactive haptic deformation of dynamic soft objects
Proceedings of the 2006 ACM international conference on Virtual reality continuum and its applications
Haptics in Virtual Reality and Multimedia
IEEE MultiMedia
Transferring Bioelasticity Knowledge through Haptic Interaction
IEEE MultiMedia
Body-based haptic interaction model for touch-enabled virtual environments
Presence: Teleoperators and Virtual Environments
A spring model for whole-hand virtual grasping
Presence: Teleoperators and Virtual Environments - Special issue: IEEE VR 2005
UIST '06 Proceedings of the 19th annual ACM symposium on User interface software and technology
Introduction to haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Six degree-of-freedom haptic rendering using voxel sampling
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Direct haptic rendering of complex trimmed NURBS models
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Haptic rendering of surface-to-surface sculpted model interaction
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Haptic Representation of Elastic Objects
Presence: Teleoperators and Virtual Environments
Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects
Presence: Teleoperators and Virtual Environments
A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties
IEEE Transactions on Visualization and Computer Graphics
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures
International Journal of Robotics Research
Haptic Simulation of Manipulator Collisions Using Dynamic Proxies
Presence: Teleoperators and Virtual Environments
Shadow-Driven 4D Haptic Visualization
IEEE Transactions on Visualization and Computer Graphics
DS-RT '07 Proceedings of the 11th IEEE International Symposium on Distributed Simulation and Real-Time Applications
Proceedings of the 1st international conference on Robot communication and coordination
Proceedings of the 1st international conference on Robot communication and coordination
An effective method for multi-material part design
International Journal of Computer Applications in Technology
DIBHR: Depth Image-Based Haptic Rendering
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Higher Precision in Volume Haptics through Subdivision of Proxy Movements
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Contact Model for Haptic Medical Simulations
ISBMS '08 Proceedings of the 4th international symposium on Biomedical Simulation
A VR simulator for training and prototyping of telemanipulation of nanotubes
Proceedings of the 2008 ACM symposium on Virtual reality software and technology
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
A run-time programmable simulator to enable multi-modal interaction with rigid-body systems
Interacting with Computers
Sensing, Acquisition, and Interactive Playback of Data-based Models for Elastic Deformable Objects
International Journal of Robotics Research
Integration of haptics with Web3D using the SAI
Proceedings of the 14th International Conference on 3D Web Technology
ACM Transactions on Multimedia Computing, Communications, and Applications (TOMCCAP)
Improving perceived hardness of haptic rendering via stiffness shifting: an initial study
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology
Haptic sculpting of multi-resolution B-spline surfaces with shaped tools
Computer-Aided Design
Incorporating haptic feedback for the simulation of a deformable tool in a rigid scene
Computers and Graphics
Accurate and efficient cpu/gpu-based 3-dof haptic rendering of complex static virtual environments
Presence: Teleoperators and Virtual Environments
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
Full-body avatar control with environment awareness
IEEE Computer Graphics and Applications - Special issue on sketching tangible interfaces augmented reality on mobile phones
Path-planning and manipulation of nanotubes using visual and haptic guidance
VECIMS'09 Proceedings of the 2009 IEEE international conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems
Neural network based force modeling for haptic virtual machining simulation
VECIMS'09 Proceedings of the 2009 IEEE international conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems
Comparison of real-time hybrid testing with shake table tests for an MR damper controlled structure
ACC'09 Proceedings of the 2009 conference on American Control Conference
Motion control of impedance-type haptic devices
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Compensating device inertia for 6-DOF haptic rendering
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Surgical simulation with high-fidelity haptic feedback
International Journal of Robotics and Automation
International Journal of Robotics Research
Area-contact haptic simulation
IS4TM'03 Proceedings of the 2003 international conference on Surgery simulation and soft tissue modeling
Realistic haptic interaction in volume sculpting for surgery simulation
IS4TM'03 Proceedings of the 2003 international conference on Surgery simulation and soft tissue modeling
A study on haptic interaction and simulation of motion and deformation of elastic object
Proceedings of the 2007 conference on Human interface: Part I
Proceedings of Graphics Interface 2010
Proxy-based sliding mode control: a safer extension of PID position control
IEEE Transactions on Robotics
Vocational education technology: rural India
Proceedings of the 1st Amrita ACM-W Celebration on Women in Computing in India
Simulating human fingers: a soft finger proxy model and algorithm
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Haptic display of contact location
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Product prototyping and manufacturing planning with 5-DOF haptic sculpting and dexel volume updating
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Extending the friction cone algorithm for arbitrary polygon based haptic objects
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
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Realistic cross-platform haptic applications using freely- available libraries
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Haptic rendering with predictive representation of local geometry
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
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
Virtual surface discrimination via an anisotropic-stiffness contact model
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II
Haptic annotation for an interactive image
Proceedings of the 5th International Conference on Ubiquitous Information Management and Communication
Finite element simulation of the spine with haptic interface
Proceedings of the 2nd International Convention on Rehabilitation Engineering & Assistive Technology
Development of a high definition haptic rendering for stability and fidelity
HCII'11 Proceedings of the 14th international conference on Human-computer interaction: interaction techniques and environments - Volume Part II
A realtime and direct-touch interaction system for the 3D cultural artifact exhibition
Proceedings of the 2011 international conference on Virtual and mixed reality: systems and applications - Volume Part II
Adding tangential forces in lateral exploration of stiffness maps
HAID'11 Proceedings of the 6th international conference on Haptic and audio interaction design
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
A texture-based direct-touch interaction system for 3D woven cultural property exhibition
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
Perceptualizing a “haptic edge” with varying stiffness based on force constancy
ICAT'06 Proceedings of the 16th international conference on Advances in Artificial Reality and Tele-Existence
Client system for realistic broadcasting: a first prototype
PCM'05 Proceedings of the 6th Pacific-Rim conference on Advances in Multimedia Information Processing - Volume Part II
Fuzzy virtual coupling design for high performance haptic display
FSKD'05 Proceedings of the Second international conference on Fuzzy Systems and Knowledge Discovery - Volume Part I
Haptic interaction with depth video media
PCM'05 Proceedings of the 6th Pacific-Rim conference on Advances in Multimedia Information Processing - Volume Part I
Six degree-of freedom haptic rendering for dental implantology simulation
ISBMS'10 Proceedings of the 5th international conference on Biomedical Simulation
A method for the verification of haptic algorithms
DSVIS'05 Proceedings of the 12th international conference on Interactive Systems: design, specification, and verification
Haptic puppetry for interactive games
Edutainment'06 Proceedings of the First international conference on Technologies for E-Learning and Digital Entertainment
Haptic display of rigid body contact using generalized penetration depth
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
An efficient and scalable deformable model for virtual reality-based medical applications
Artificial Intelligence in Medicine
Cursor navigation using haptics for motion-impaired computer users
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
Haptic rendering of cultural heritage objects at different scales
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
A haptic rendering algorithm for molecular interaction
EG VCBM'08 Proceedings of the First Eurographics conference on Visual Computing for Biomedicine
Haptic navigation and exploration of high quality pre-rendered environments
VAST'06 Proceedings of the 7th International conference on Virtual Reality, Archaeology and Intelligent Cultural Heritage
A new approach to virtual palpation
Proceedings of the 11th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and its Applications in Industry
Haptic rendering of variable density point cloud through local kernel bandwidth estimation
Proceedings of the Eighth Indian Conference on Computer Vision, Graphics and Image Processing
Stable adaptive algorithm for Six Degrees-of-Freedom haptic rendering in a dynamic environment
The Visual Computer: International Journal of Computer Graphics
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Haptic display is the process of applying forces to a human "observer" giving the sensation of touching and interacting with real physical objects. Touch is unique among the senses because it allows simultaneous exploration and manipulation of an environment. A haptic display system has three main components. The first is the haptic interface, or display device, generally some type of electro-mechanical system able to exert controllable forces on the user with one or more degrees of freedom. The second is the object model-a mathematical representation of the object containing its shape and other properties related to the way it feels. The third component, the haptic rendering algorithm, joins the first two components to compute, in real time, the model-based forces to give the user the sensation of touching the simulated objects. This paper focuses on a new haptic rendering algorithm for generating convincing interaction forces for objects modeled as rigid polyhedra. We create a virtual model of the haptic interface, called the god-object, which conforms to the virtual environment. The haptic interface can then be servo-ed to this virtual model. This algorithm is extensible to other functional descriptions and lays the groundwork for displaying not only shape information, but surface properties such as friction and compliance.