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2000
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Haptic Interaction with Global Deformations

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Haptic Interaction with Global Deformations
Force feedback coupled with a real-time physically realistic graphic display provides a human operator with an artificial sense of presence in a virtual environment. Furthermore, it allows a human operator to interact with the virtual environment through ”touch”. In this paper, we describe a haptic simulation system that allows a human operator to perform real-time interaction with soft 3D objects that go through large global deformations. We model and simulate such a global deformation using geometrically nonlinear finite element methods (FEM). We also introduce an efficient method that computes the force feedback, in real-time, by simulating the collision between the virtual ”proxy” and the deformable object. To perceptually satisfy a human operator, haptics requires a much higher update frequency (at least 1000Hz) than graphics. We update the graphics using full simulation and interpolate the fully simulated states at a higher frequency to render haptics. The interpolati...
Yan Zhuang, John F. Canny
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Yan Zhuang, John F. Canny
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