Fast Rendering for a Multifinger Haptic Display

Blake Hannaford, Rainer Leuschke
2007 Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07)  
An algorithm is described for fast rendering of surfaces for haptic interaction with multiple fingers. The algorithm uses a human-defined geometrical map to quickly cache surface triangles for constant time solution of the collision detection problem. The map is a 1, 2, or 3 dimensional manifold onto which it is easy to project the haptic interaction point. Dividing it's surface into quantized bins allows easy reference to a small set of triangles which can be checked for collision. Although
more » ... algorithm relies on some one-time manual input (i.e. defining the contact map), it represents a significant increase in speed without a substantial memory penalty.
doi:10.1109/whc.2007.52 dblp:conf/haptics/HannafordL07 fatcat:nijvwbb4m5fcbcvmtj4ir5vzb4