Papers by Keyword: Haptic Rendering

Abstract: In this paper, a new volumetric deformable model that is suitable for real-time haptic rendering is proposed. Haptic rendering is the process of calculating and generating repulsive force in response to user interactions with virtual objects. In order to embody a deformable object into virtual space, a volumetric deformable object represented by a shape-retaining chain linked (S-chain) model is adopted. S-chain model allows for fast and realistic deformation of elastic objects. The classical S-chain model was satisfactory but there was still room for improvement. In order to improve this limitation, we propose an advanced S-chain algorithm which can be compatible with classical S-chain model.

Abstract: In this paper, a novel solution combing heuristic constraints with physical-based method for virtual interaction is proposed. With which, a grasping simulation is divided into three stages including pregrasping, preliminary grasping and stable grasping and the two techniques have been used in different phases. A dexterous virtual hand, consisting of geometric model, kinematics model, collision model and contact force model, is also constructed to be used in this solution. By analyzing the physical structures and perceptual characteristics of human finger, a haptic rendering algorithm is presented to obtain natural and stable virtual interaction.

Abstract: Haptic interfaces that represent force and tactile feeling have been utilized in the areas of telemanipulation, interaction with microscale and nanoscale phenomena, and medical training and evaluation, to mention only some applications. A multi-fingered haptic interface has greater potential for these kinds of applications than does a singlepoint haptic interface. We developed a five-fingered haptic interface robot named HIRO II, which consists of a hand with 15 dof and an arm with 6 dof. The following research issues are presented: the design method of mechanism, an interface control that takes the redundancy of the mechanism into consideration, physical simulation including frictional force and moment, a haptic rendering with a deformable object, the system architecture and two application systems--a future science encyclopedia and a VR breast palpation system.