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SIGGRAPH
1999
ACM

Six Degree-of-Freedom Haptic Rendering Using Voxel Sampling

13 years 8 months ago
Six Degree-of-Freedom Haptic Rendering Using Voxel Sampling
A simple, fast, and approximate voxel-based approach to 6DOF 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...
William A. McNeely, Kevin D. Puterbaugh, James J.
Added 03 Aug 2010
Updated 03 Aug 2010
Type Conference
Year 1999
Where SIGGRAPH
Authors William A. McNeely, Kevin D. Puterbaugh, James J. Troy
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