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A differential method for the haptic rendering of deformable objects

Published: 01 November 2006 Publication History

Abstract

This paper introduces a new method for the computation of contact forces during the haptic interaction between a rigid probe and a soft virtual object. Tradicional methods used to estimate forces inside a haptic loop are based on a penetration distance of the haptic probe inside the virtual objects. This unnatural approach creates some visual incoherences when simulating the contact with rigid objects, but works fine on the force estimation side. For soft objects however, the use of a penetration distance makes less sense and creates many problems both visually and haptically. We propose a method that considers the penetration of the probe inside the virtual object as being an approximation error, and performs an iterative model adjustment estimating a local elasticity for the deformable object. Forces are computed incrementally. The proposed approach is independent from any particular implementation used for simulating the deformable object. The force estimation is based on the actual shape of the object, considering its deformations, allowing multiple users to interact with a same object while feeling the influence of each other. Experimental results are presented.

References

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  • (2021)Haptic Simulator for Trocar Insertion Training2021 IEEE World Haptics Conference (WHC)10.1109/WHC49131.2021.9517245(397-402)Online publication date: 6-Jul-2021
  • (2013)Passive Multirate Wave Communications for Haptic Interaction in Slow Virtual EnvironmentsIEEE/ASME Transactions on Mechatronics10.1109/TMECH.2011.217500218:1(328-336)Online publication date: Feb-2013
  • (2012)Robust Interactive Collision Handling between Tools and Thin Volumetric ObjectsIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2011.15118:8(1241-1254)Online publication date: 1-Aug-2012
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cover image ACM Conferences
VRST '06: Proceedings of the ACM symposium on Virtual reality software and technology
November 2006
400 pages
ISBN:1595933212
DOI:10.1145/1180495
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 01 November 2006

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Author Tags

  1. haptic interfaces
  2. soft-tissue modeling
  3. virtual reality

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Cited By

View all
  • (2021)Haptic Simulator for Trocar Insertion Training2021 IEEE World Haptics Conference (WHC)10.1109/WHC49131.2021.9517245(397-402)Online publication date: 6-Jul-2021
  • (2013)Passive Multirate Wave Communications for Haptic Interaction in Slow Virtual EnvironmentsIEEE/ASME Transactions on Mechatronics10.1109/TMECH.2011.217500218:1(328-336)Online publication date: Feb-2013
  • (2012)Robust Interactive Collision Handling between Tools and Thin Volumetric ObjectsIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2011.15118:8(1241-1254)Online publication date: 1-Aug-2012
  • (2012)Wave filter bank for high fidelity passive multirate haptic interaction with slowly updated virtual environments2012 IEEE Haptics Symposium (HAPTICS)10.1109/HAPTIC.2012.6183777(105-110)Online publication date: Mar-2012
  • (2011)Bimanual haptic simulator for medical trainingProceedings of the 17th Eurographics conference on Virtual Environments & Third Joint Virtual Reality10.5555/2386082.2386090(39-46)Online publication date: 20-Sep-2011
  • (2008)Contact Model for Haptic Medical SimulationsProceedings of the 4th international symposium on Biomedical Simulation10.1007/978-3-540-70521-5_17(157-165)Online publication date: 7-Jul-2008
  • (2008)Hierarchical spatial hashing‐based collision detection and hybrid collision response in a haptic surgery simulatorThe International Journal of Medical Robotics and Computer Assisted Surgery10.1002/rcs.1774:1(77-86)Online publication date: 14-Feb-2008
  • (2007)SPEM: a new haptic rendering method based on time coherenceComputer Animation and Virtual Worlds10.1002/cav.19818:4-5(319-328)Online publication date: 26-Jun-2007

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