Feeling and seeing: issues in force display
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Design tools for shaping spline models
Mathematical methods in computer aided geometric design
The NURBS book
An interactive tool for placing curved surfaces without interpenetration
SIGGRAPH '95 Proceedings of the 22nd 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
Direct haptic rendering of sculptured models
Proceedings of the 1997 symposium on Interactive 3D graphics
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Intermediate representation for stiff virtual objects
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
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
Feature-based process planning and automatic numerical control part programming
Feature-based process planning and automatic numerical control part programming
Six Degree-of-Freedom Haptic Rendering Using Spatialized Normal Cone Search
IEEE Transactions on Visualization and Computer Graphics
ACM Transactions on Multimedia Computing, Communications, and Applications (TOMCCAP)
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The most accurate haptic rendition of a virtual model is produced when the haptic algorithm acts directly on the actual model and not an intermediate representation. In the modeling and design communities the de facto model representation standard is NURBS. Further, more powerful systems provide trimming and adjacency information within the models representation. This additional information permits more complex models to be expressed succinctly but also increases the complexity of representation. In this paper we present an algorithm that supports direct haptic rendering of models constructed from trimmed NURBS surfaces. Our distributed system links an advanced modeling system to a force-reflecting device. In addition, we present extensions to the algorithm which support model manipulation, dimensioned probes, and multi-probe contact.