Adding force feedback to graphics systems: issues and solutions
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Dynamic Local Models for Stable Multi-Contact Haptic Interaction with Deformable Objects
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
Intermediate representation for stiff virtual objects
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
Issues in the haptic display of tool use
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
High-Fidelity Haptic Synthesis of Contact with Deformable Bodies
IEEE Computer Graphics and Applications
A differential method for the haptic rendering of deformable objects
Proceedings of the ACM symposium on Virtual reality software and technology
International Journal of Robotics Research
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
International Journal of Robotics Research
Bimanual haptic simulator for medical training: system architecture and performance measurements
EGVE - JVRC'11 Proceedings of the 17th Eurographics conference on Virtual Environments & Third Joint Virtual Reality
Haptic manipulation of deformable objects in hybrid bilateral teleoperation system
Applied Bionics and Biomechanics
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In this paper we describe a new solution for stable haptic interaction with deformable object simulations featuring low servo rates and computational delays. The solution presented is a combination of the local model and the virtual coupling concepts proposed in the past. By varying the local model impedance depending on the local stiffness of the deformable object, the interaction between local model and simulation can always be made stable independently of low servo rates or computational delays. Moreover, by using more complex local impedances that feature an integral term, we are able to control the steady-state error between the device and the surface of the deformable object. This allows us to maximize the Z-width of the simulation, while obtaining overall stable behavior without using any added damping. The local model is always computed using the current deformable object surface, thus allowing for multi-point contact interaction, i.e., allowing multiple users to feel each other's influence on the object. The proposed solution is presented and analyzed in a multirate setting. Experimental results employing a Phantom haptic interface are presented.