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

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

36 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 languageEnglish
Title of host publicationProceedings - 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages209-216
Number of pages8
ISBN (Electronic)0769514898, 9780769514895
DOIs
StatePublished - 2002
Event10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002 - Orlando, United States
Duration: 24 Mar 200225 Mar 2002

Publication series

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

Conference

Conference10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002
Country/TerritoryUnited States
CityOrlando
Period24/03/0225/03/02

Keywords

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

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