Virtual Clay Modeling System with 6-DOF Haptic Feedback


Article Preview

This paper describes an innovative free-form modeling system, Virtual Clay Modeling System (VCMS), in which users can directly manipulate the shape of a virtual object like a clay model in real world. With this system, some disadvantages of interaction with computer aided industry design (CAID) systems can be resolved. In order to enhance the immersion feelings and improve the controlling abilities to cut, paste, and compensate of VCMS, we use Spaceball 5000 and PHANTOM Desktop to assign the set of interaction tasks. During the process of realizing 6 degree-of-freedom (DOF) haptic feedback modeling control, we developed and accomplished the device interfaces with Open Inventor and Qt application framework. VCMS provides us a good immersion of allowing for effective modeling in a virtual world.



Materials Science Forum (Volumes 628-629)

Edited by:

Dongming Guo, Jun Wang, Zhenyuan Jia, Renke Kang, Hang Gao, and Xuyue Wang




F.X. Yan et al., "Virtual Clay Modeling System with 6-DOF Haptic Feedback", Materials Science Forum, Vols. 628-629, pp. 155-160, 2009

Online since:

August 2009




[1] S. H. Zhang, Z. X. Hou, G. Z. Sun, et al.: Virtual ClayModeling, Application Research of Computers, Vol. 24(2) (2007), pp.181-182, 185 (in Chinese).

[2] Sener B., Wormald P. and Campbell I.: Towards 'Virtual Clay' Modelling-Challenges and Recommendations: A Brief Summary of the Literature, Proceedings of the DESIGN 2002 7th International Design Conference, Dubrovnik, Croatia, 2002, pp.545-551.

[3] SouVR Inc. HAPTIC Devices, http: /www. souvr. com/Shop/p.7/HapticDevices/Index. html.

[4] Zhang J., Payandeh S. and Dill J.: Haptic Aided Design: a Case Study", Proceedings of the 11th Symposium on Haptic Interface for Virtual Environment and Teleoperator System (HAPTICS, 03), Los Angles, 2003, pp.254-261.


[5] Kyung K., Son S., Kwon D. and Kim M.: Design of an Integrated Tactile Display System, Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans LA, 2004, pp.776-781.


[6] Yves Guiard: Asymmetric Division of Labor in Human Skilled Bimanual Action: The Kinematic Chain as a Model, Journal of Motor Behavior, Vol. 19(4) (1987), pp.486-517.


[7] Z. X. Hou, F. X. Yan, B. Sun, et al.: Haptic Force Feedback Modeling Method, China, CN 101271485A, 2008 (in Chinese).