Six-degree-of-freedom haptic rendering using translational and generalized penetration depth computation

Yi Li, Min Tang, Sanyuan Zhang, Young J. Kim

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

6 Scopus citations

Abstract

We present six-degree-of-freedom (6DoF) haptic rendering algorithms using translational (PDt) and generalized penetration depth (PDg). Our rendering algorithm can handle any type of object/object haptic interaction using penalty-based response and makes no assumption about the underlying geometry and topology. Moreover, our rendering algorithm can effectively deal with multiple contacts. Our penetration depth algorithms for PDt and PDg are based on a contact-space projection technique combined with iterative, local optimization on the contact-space. We circumvent the local minima problem, imposed by the local optimization, using motion coherence present in the haptic simulation. Our experimental results show that our methods can produce high-fidelity force feedback for general polygonal models consisting of tens of thousands of triangles at near-haptic rates, and are successfully integrated into an off-the-shelf 6DoF haptic device. We also discuss the benefits of using different formulations of penetration depth in the context of 6DoF haptics.

Original languageEnglish
Title of host publication2013 World Haptics Conference, WHC 2013
Pages289-294
Number of pages6
DOIs
StatePublished - 2013
Event2013 IEEE World Haptics Conference, WHC 2013 - Daejeon, Korea, Republic of
Duration: 14 Apr 201317 Apr 2013

Publication series

Name2013 World Haptics Conference, WHC 2013

Conference

Conference2013 IEEE World Haptics Conference, WHC 2013
Country/TerritoryKorea, Republic of
CityDaejeon
Period14/04/1317/04/13

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