Adding force feedback to graphics systems: issues and solutions
SIGGRAPH '96 Proceedings of the 23rd 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
Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Touch in Virtual Environments: Haptics and the Design of Interactive Systems
Touch in Virtual Environments: Haptics and the Design of Interactive Systems
Optimization-Based Virtual Surface Contact Manipulation at Force Control Rates
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Intermediate representation for stiff virtual objects
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
Sensation preserving simplification for haptic rendering
ACM SIGGRAPH 2003 Papers
Haptic Display of Interaction between Textured Models
VIS '04 Proceedings of the conference on Visualization '04
Introduction to haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Advances in voxel-based 6-DOF haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Haptic display of interaction between textured models
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
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
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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In this paper, we propose a quasi-static approximation (QSA) approach to simulate the movement of the movable object in 6-degrees-of-freedom (DOF) haptic rendering. In our QSA approach, we solve for static equilibrium during each haptic time step, ignoring any dynamical properties such as inertia. The major contribution of this approach is to overcome the computational instability problem in overly stiff systems arising from numerical integration of second-order differential equations in previous dynamic models. Our primary experimental results on both simulated aircraft geometry and a large-scale real-world aircraft engine showed that our QSA approach was capable of maintaining the 1000Hz haptic refresh rate with more robust collision avoidance and more reliable force and torque feedback.