Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Project GROPEHaptic displays for scientific visualization
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Generalized implicit functions for computer graphics
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Solving the Collision Detection Problem
IEEE Computer Graphics and Applications
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Impulse-based dynamic simulation
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Adding force feedback to graphics systems: issues and solutions
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
A haptic interaction method for volume visualization
Proceedings of the 7th conference on Visualization '96
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Fast animation and control of nonrigid structures
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Computer
Intermediate representation for stiff virtual objects
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
VRAIS '96 Proceedings of the 1996 Virtual Reality Annual International Symposium (VRAIS 96)
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
Control system design for robots used in simulating dynamic force and moment interaction in virtual reality applications
A dental simulator for training of prevalent interventions: tooth restoration and ultrasonic scaling
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part II
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A simple, fast, and approximate voxel-based approach to 6-DOF haptic rendering is presented. It can reliably sustain a 1000 Hz haptic refresh rate without resorting to asynchronous physics and haptic rendering loops. It enables the manipulation of a modestly complex rigid object within an arbitrarily complex environment of static rigid objects. It renders a short-range force field surrounding the static objects, which repels the manipulated object and strives to maintain a voxel-scale minimum separation distance that is known to preclude exact surface interpenetration. Force discontinuities arising from the use of a simple penalty force model are mitigated by a dynamic simulation based on virtual coupling. A generalization of octree improves voxel memory efficiency. In a preliminary implementation, a commercially available 6-DOF haptic prototype device is driven at a constant 1000 Hz haptic refresh rate from one dedicated haptic processor, with a separate processor for graphics. This system yields stable and convincing force feedback for a wide range of user controlled motion inside a large, complex virtual environment, with very few surface interpenetration events. This level of performance appears suited to applications such as certain maintenance and assembly task simulations that can tolerate voxel-scale minimum separation distances.