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HAPTICS
2009
IEEE

Haptic rendering of complex deformations through handle-space force linearization

10 years 8 months ago
Haptic rendering of complex deformations through handle-space force linearization
The force-update-rate requirements of transparent rendering of virtual environments are in conflict with the computational cost required for computing complex interactions between deforming objects. In this paper we introduce a novel method for satisfying high force update rates with deformable objects, yet retaining the visual quality of complex deformations and interactions. The objects that are haptically manipulated may have many degrees of freedom, but haptic interaction is often implemented in practice through low-dimensional force-feedback devices. We exploit the low-dimensional domain of the interaction for devising a novel linear approximation of interaction forces that can be efficiently evaluated at force-update rates. Moreover, our linearized force model is time-implicit, which implies that it accounts for contact constraints and the internal dynamics of deforming objects. In this paper we show examples of haptic interaction in complex situations such as large deformatio...
Carlos Garre, Miguel A. Otaduy
Added 21 May 2010
Updated 21 May 2010
Type Conference
Year 2009
Where HAPTICS
Authors Carlos Garre, Miguel A. Otaduy
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