Six-degree-of-freedom haptic display using localized contact computations

Young J. Kim; Miguel A. Otaduy; Ming C. Lin; Dinesh Manocha

doi:10.1109/HAPTIC.2002.998960

Six-degree-of-freedom haptic display using localized contact computations

Young J. Kim, Miguel A. Otaduy, Ming C. Lin, Dinesh Manocha

Computer Science & Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

37 Scopus citations

Abstract

We present a six-degree-of-freedom haptic rendering algorithm using localized contact computations. It takes advantage of high motion coherence due to fast force update and spatial locality near the contact regions. We first decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchies for fast proximity queries. Once the objects are intersecting, the penetration depth (PD) is estimated in the contact neighborhood between each pair of decomposed convex pieces, using a new incremental method based on local optimization. Given the computed PD values, multiple contacts near a local region are clustered together to further speed up contact force determination. We have implemented these algorithms and applied them to complex contact scenarios consisting of multiple contacts.

Original language	English
Title of host publication	Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	209-216
Number of pages	8
ISBN (Electronic)	0769514898, 9780769514895
DOIs	https://doi.org/10.1109/HAPTIC.2002.998960
State	Published - 2002
Event	10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002 - Orlando, United States Duration: 24 Mar 2002 → 25 Mar 2002

Publication series

Name	Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002

Conference

Conference	10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002
Country/Territory	United States
City	Orlando
Period	24/03/02 → 25/03/02

Bibliographical note

Publisher Copyright:
© 2002 IEEE.

Keywords

Auditory displays
Computational modeling
Computer displays
Contracts
Force feedback
Haptic interfaces
Iterative algorithms
Medical simulation
Optimization methods
Rendering (computer graphics)

Access to Document

10.1109/HAPTIC.2002.998960

Cite this

Kim, Y. J., Otaduy, M. A., Lin, M. C., & Manocha, D. (2002). Six-degree-of-freedom haptic display using localized contact computations. In Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002 (pp. 209-216). Article 998960 (Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/HAPTIC.2002.998960

Kim, Young J. ; Otaduy, Miguel A. ; Lin, Ming C. et al. / Six-degree-of-freedom haptic display using localized contact computations. Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002. Institute of Electrical and Electronics Engineers Inc., 2002. pp. 209-216 (Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002).

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abstract = "We present a six-degree-of-freedom haptic rendering algorithm using localized contact computations. It takes advantage of high motion coherence due to fast force update and spatial locality near the contact regions. We first decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchies for fast proximity queries. Once the objects are intersecting, the penetration depth (PD) is estimated in the contact neighborhood between each pair of decomposed convex pieces, using a new incremental method based on local optimization. Given the computed PD values, multiple contacts near a local region are clustered together to further speed up contact force determination. We have implemented these algorithms and applied them to complex contact scenarios consisting of multiple contacts.",

keywords = "Auditory displays, Computational modeling, Computer displays, Contracts, Force feedback, Haptic interfaces, Iterative algorithms, Medical simulation, Optimization methods, Rendering (computer graphics)",

author = "Kim, {Young J.} and Otaduy, {Miguel A.} and Lin, {Ming C.} and Dinesh Manocha",

note = "Publisher Copyright: {\textcopyright} 2002 IEEE.; 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002 ; Conference date: 24-03-2002 Through 25-03-2002",

year = "2002",

doi = "10.1109/HAPTIC.2002.998960",

language = "English",

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Kim, YJ, Otaduy, MA, Lin, MC & Manocha, D 2002, Six-degree-of-freedom haptic display using localized contact computations. in Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002., 998960, Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002, Institute of Electrical and Electronics Engineers Inc., pp. 209-216, 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002, Orlando, United States, 24/03/02. https://doi.org/10.1109/HAPTIC.2002.998960

Six-degree-of-freedom haptic display using localized contact computations. / Kim, Young J.; Otaduy, Miguel A.; Lin, Ming C. et al.
Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002. Institute of Electrical and Electronics Engineers Inc., 2002. p. 209-216 998960 (Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - We present a six-degree-of-freedom haptic rendering algorithm using localized contact computations. It takes advantage of high motion coherence due to fast force update and spatial locality near the contact regions. We first decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchies for fast proximity queries. Once the objects are intersecting, the penetration depth (PD) is estimated in the contact neighborhood between each pair of decomposed convex pieces, using a new incremental method based on local optimization. Given the computed PD values, multiple contacts near a local region are clustered together to further speed up contact force determination. We have implemented these algorithms and applied them to complex contact scenarios consisting of multiple contacts.

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Kim YJ, Otaduy MA, Lin MC, Manocha D. Six-degree-of-freedom haptic display using localized contact computations. In Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002. Institute of Electrical and Electronics Engineers Inc. 2002. p. 209-216. 998960. (Proceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002). doi: 10.1109/HAPTIC.2002.998960

Six-degree-of-freedom haptic display using localized contact computations

Abstract

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Bibliographical note

Keywords

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