Filters








665 Hits in 8.1 sec

Six-degree-of-freedom Haptic Rendering using Translational and Generalized Penetration Depth Computation
선형 및 일반형 침투깊이를 이용한 6자유도 햅틱 렌더링 알고리즘

Yi Li, Youngeun Lee, Young J. Kim
2013 The Journal of Korea Robotics Society  
We present six-degree-of-freedom (6DoF) haptic rendering algorithms using translational (PD t ) and generalized penetration depth (PD g ).  ...  We also discuss the benefits of using different formulations of penetration depth in the context of 6DoF haptics.  ...  Fig. 1 . 1 6DoF haptic rendering using translational PD and generalized PD.  ... 
doi:10.7746/jkros.2013.8.3.173 fatcat:fo52qiybxzdnnmbwkfcnexq2qu

Generalized penetration depth for penalty-based six-degree-of-freedom haptic rendering

Maxim Kolesnikov, Miloš Žefran
2008 Robotica (Cambridge. Print)  
We propose a new six-degree-of-freedom (6-DOF) haptic rendering algorithm which is based on determining the closest-point projection of the inadmissible configuration onto the set of admissible configurations  ...  Existing penalty-based haptic rendering approaches are based on the penetration depth estimation in strictly translational sense and cannot properly take object rotation into account.  ...  Additional support was provided by the College of Dentistry at the University of Illinois at Chicago.  ... 
doi:10.1017/s0263574708004207 fatcat:aysoa64owvcinhhjoubhjp7x6i

Voxel-Based Haptic Rendering Using Implicit Sphere Trees

Emanuele Ruffaldi, Dan Morris, Federico Barbagli, Ken Salisbury, Massimo Bergamasco
2008 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems  
rendered in six degrees of freedom at interactive rates.  ...  This paper presents an approach to rendering six-degree-of-freedom contact among virtual objects using a novel data structure referred to as an implicit sphere tree.  ...  ACKNOWLEDGMENTS This work was supported by NIH LM07295, BioX 2DMA178, and by the European Commission within the Enactive Network of Excellence.  ... 
doi:10.1109/haptics.2008.4479964 dblp:conf/haptics/RuffaldiMBSB08 fatcat:ai4gik3hz5e5rltoe47ho7uos4

Haptic rendering of interaction between textured models

Miguel A. Otaduy, Nitin Jain, Avneesh Sud, Ming C. Lin
2004 ACM SIGGRAPH 2004 Sketches on - SIGGRAPH '04  
We introduce a novel force model based on directional penetration depth and describe an efficient implementation on programmable graphics hardware that enables interactive haptic texture rendering of complex  ...  Figure 1: Haptic Rendering of Interaction between Textured Objects.  ...  Six Degree-of-Freedom Haptics Haptic display of forces and torques between two interacting objects is commonly known as 6 degree-of-freedom (DoF) haptics.  ... 
doi:10.1145/1186223.1186281 dblp:conf/siggraph/OtaduyJSL04 fatcat:ifwjea37ebckjmwxphxcfhbfbi

Haptic display of interaction between textured models

Miguel A. Otaduy, Nitin Jain, Avneesh Sud, Ming C. Lin
2005 ACM SIGGRAPH 2005 Courses on - SIGGRAPH '05  
We also introduce a novel force model based on directional penetration depth and describe an efficient implementation on programmable graphics hardware that enables interactive haptic texture rendering  ...  We compute contact forces and torques using low-resolution geometric representations along with texture images that encode surface details.  ...  Army Research Office, and Intel Corporation.  ... 
doi:10.1145/1198555.1198613 dblp:conf/siggraph/OtaduyJSL05 fatcat:ic6rr7llujhi7b37m7zh3hutuq

A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties

Michael Ortega, Stephane Redon, Sabine Coquillart
2007 IEEE Transactions on Visualization and Computer Graphics  
Our approach separates the computation of the motion of the six degree-of-freedom god-object from the computation of the force applied to the user.  ...  This paper describes a generalization of the godobject method for haptic interaction between rigid bodies.  ...  This work was partially supported by PERF-RV2 and by the INTUITION European Network of Excellence (IST NMP-1-507248-2).  ... 
doi:10.1109/tvcg.2007.1028 pmid:17356213 fatcat:ngzctletprhl5jgeyeicrsdquu

Six-Degree-of-Freedom Haptic Rendering Using Incremental and Localized Computations

Young J. Kim, Miguel A. Otaduy, Ming C. Lin, Dinesh Manocha
2003 Presence - Teleoperators and Virtual Environments  
We present a novel six-degree-of-freedom haptic rendering algorithm using incremental and localized contact computations.  ...  However, no general and efficient algorithms are known for computing penetration depth between polyhedral objects for haptic rendering.  ...  Penetration Depth Computation Overview of the Haptic Rendering Algorithm In this section, we give an overview of our six-degree-of-freedom haptic rendering algorithm.  ... 
doi:10.1162/105474603765879530 fatcat:xuxt5mjgwfaahd52db6kxuncdm

Accelerated haptic rendering of polygonal models through local descent

D.E. Johnson, P. Willemsen
2004 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.  
In a prior paper, we described a haptic rendering algorithm for arbitrary polygonal models using a six degree-of-freedom haptic interface.  ...  This paper augments that system with a local tracking algorithm that quickly updates and maintains globally computed minima.  ...  Acknowledgements The authors would like to acknowledge support in part from the following grants: NSF DMI9978603, NSF CDA-96-23614, and ARO DAAD 19-01-1-0013.  ... 
doi:10.1109/haptic.2004.1287173 dblp:conf/haptics/JohnsonW04 fatcat:k2v3jk5lyrf4pmjurkhlqhr4oe

Six degree-of-freedom haptic rendering using voxel sampling

William A. McNeely, Kevin D. Puterbaugh, James J. Troy
1999 Proceedings of the 26th annual conference on Computer graphics and interactive techniques - SIGGRAPH '99  
A simple, fast, and approximate voxel-based approach to 6-DOF haptic rendering is presented.  ...  It can reliably sustain a 1000 Hz haptic refresh rate without resorting to asynchronous physics and haptic rendering loops.  ...  Perry for creating simulated aircraft geometry, and Elaine Chen of SensAble Technologies, Inc. for literature research and technical information about the PHAN-TOM device and GHOST software support.  ... 
doi:10.1145/311535.311600 dblp:conf/siggraph/McNeelyPT99 fatcat:57zwvw2jqrbzdcqvr252bysz2m

Six degree-of-freedom haptic rendering using voxel sampling

William A. McNeely, Kevin D. Puterbaugh, James J. Troy
2005 ACM SIGGRAPH 2005 Courses on - SIGGRAPH '05  
A simple, fast, and approximate voxel-based approach to 6-DOF haptic rendering is presented.  ...  It can reliably sustain a 1000 Hz haptic refresh rate without resorting to asynchronous physics and haptic rendering loops.  ...  Perry for creating simulated aircraft geometry, and Elaine Chen of SensAble Technologies, Inc. for literature research and technical information about the PHAN-TOM device and GHOST software support.  ... 
doi:10.1145/1198555.1198605 dblp:conf/siggraph/McNeelyPT05 fatcat:pzr7kmfk35hrndtipoudxlxjhe

A perceptually-inspired force model for haptic texture rendering

Miguel A. Otaduy, Ming C. Lin
2004 Proceedings of the 1st Symposium on Applied perception in graphics and visualization - APGV '04  
One of the most salient haptic characteristics of objects is surface texture.  ...  Inspired by these recent findings, we develop the first force model for haptic display of interaction between two textured objects.  ...  We plan to extend our work by enriching the types of surfaces and properties rendered, such as higher frequency textures and deformable textured surfaces, and by applying our texture force model to applications  ... 
doi:10.1145/1012551.1012574 dblp:conf/apgv/OtaduyL04 fatcat:epw4jxrurzejhhcidxjtuqb3om

Dissipative Control for Physical Human–Robot Interaction

Stuart A. Bowyer, Ferdinando Rodriguez y Baena
2015 IEEE Transactions on robotics  
Index Terms-Physical human-robot interaction, impedance control, haptics and haptic interfaces, virtual fixtures, medical robots and systems.  ...  Physical human-robot interaction is fundamental to exploiting the capabilities of robots in tasks and environments where robots have limited cognition or comprehension, and is virtually ubiquitous for  ...  The user controlled the pose of the ring with a six degree of freedom, sigma.6+ haptic device (Force Dimension Inc.), which also rendered control forces/torques to the user.  ... 
doi:10.1109/tro.2015.2477956 fatcat:zho4jdmbirbrvialtwemilglou

Virtual Reality Simulator for the Training of Lumbar Punctures

M. Färber, F. Hummel, C. Gerloff, H. Handels
2009 Methods of Information in Medicine  
Methods: A haptic device with six degrees of freedom is used to steer the virtual needle and to generate feedback forces that resist needle insertion and rotation.  ...  An extended haptic volume-rendering approach is applied to calculate forces.  ...  They especially thank Julika Bödewadt, Erik Hoeborn, and Thorsten Dahmke for developing and implementing parts of the simulation software and David Dalek and Christian Schöps for preparing the virtual  ... 
doi:10.3414/me0566 pmid:19448881 fatcat:wz2kl354yzh6fctb6njnlc7eqa

Configuration-based optimization for six degree-of-freedom haptic rendering using sphere-trees

Xin Zhang, Dangxiao Wang, Yuru Zhang, Jing Xiao
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents a novel constraint-based six degree-of-freedom (6-DoF) haptic rendering algorithm for simulating both contact forces and torques between interacting rigid bodies.  ...  Our method enables stable operations and realistic feel of haptic sensation.  ...  During the examination, a dentist uses a periodontal probe to check the depth value of the pocket, and thus to determine the degree of the periodontal inflammation.  ... 
doi:10.1109/iros.2011.6048303 fatcat:3u6ifylhcbdihkqt7ir7dkpu6e

Configuration-based optimization for six degree-of-freedom haptic rendering using sphere-trees

Xin Zhang, Dangxiao Wang, Yuru Zhang, Jing Xiao
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents a novel constraint-based six degree-of-freedom (6-DoF) haptic rendering algorithm for simulating both contact forces and torques between interacting rigid bodies.  ...  Our method enables stable operations and realistic feel of haptic sensation.  ...  During the examination, a dentist uses a periodontal probe to check the depth value of the pocket, and thus to determine the degree of the periodontal inflammation.  ... 
doi:10.1109/iros.2011.6094713 dblp:conf/iros/ZhangWZX11 fatcat:hkwuplba5zcrpbnxcrjtfs5we4
« Previous Showing results 1 — 15 out of 665 results