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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Zhuang, Y. Canny, J. |
| Copyright Year | 2000 |
| Description | Author affiliation: Dept. of Comput. Sci., California Univ., Berkeley, CA, USA (Zhuang, Y.) |
| Abstract | Force feedback coupled with a real-time physically realistic graphic display provides a human operator with an artificial sense of presence in a virtual environment. Furthermore, it allows a human operator to interact with the virtual environment through "touch". We describe a haptic simulation system that allows a human operator to perform real-time interaction with soft 3D objects that go through large global deformations. We model and simulate such a global deformation using geometrically nonlinear finite element methods (FEM). We also introduce an efficient method that computes the force feedback, in real-time, by simulating the collision between the virtual "proxy" and the deformable object. To perceptually satisfy a human operator, haptics requires a much higher update frequency (at least 1000 Hz) than graphics. We update the graphics using full simulation and interpolate the fully simulated states at a higher frequency to render haptics. The interpolation is made possible by intentionally delaying the display (both graphics and haptics) by one full simulation cycle. |
| Starting Page | 2428 |
| Ending Page | 2433 |
| File Size | 727457 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780358864 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2000.846391 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2000-04-24 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Haptic interfaces Computational modeling Graphics Humans Deformable models Force feedback Displays Virtual environment Solid modeling Frequency |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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