Haptic Simulation of a Tool in Contact with a Nonlinear Deformable Body
Identifieur interne : 001A85 ( Istex/Curation ); précédent : 001A84; suivant : 001A86Haptic Simulation of a Tool in Contact with a Nonlinear Deformable Body
Auteurs : Mohsen Mahvash [Canada] ; Vincent Hayward [Canada]Source :
- Lecture Notes in Computer Science [ 0302-9743 ] ; 2003.
Abstract
Abstract: This paper presents a method to artificially re-create haptic feedback while moving and sliding an arbitrary virtual tool against a virtual deformable body with nonlinear elastic properties. The computation of the response in such general cases is a task which does not yet admit computational solutions suitable for realtime implementation. To address this, we describe an approach based on the bookkeeping of forcede deflections curves stored at the nodes of a triangulated body surface. For realism, normal and lateral deformations at each node are represented in a range of deflection distances. The response everywhere is synthesized via area interpolation of response curves stored at the nodes of the mesh. The mathematical continuity of the synthetic response is the result of both local coordinates interpolation and of response function interpolation, which previous methods did not account for. This guarantees the absence of haptic‘ clicks’ and ‘pops’ which are unacceptable artifacts in high fidelity simulations. Sliding contacts are also considered.
Url:
DOI: 10.1007/3-540-45015-7_30
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<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Haptic Simulation of a Tool in Contact with a Nonlinear Deformable Body</title><author><name sortKey="Mahvash, Mohsen" sort="Mahvash, Mohsen" uniqKey="Mahvash M" first="Mohsen" last="Mahvash">Mohsen Mahvash</name><affiliation wicri:level="1"><mods:affiliation>Real Contact Inc. Lorne Crescent, H2X 2B1, Montréal, Québec, Canada</mods:affiliation><country xml:lang="fr">Canada</country><wicri:regionArea>Real Contact Inc. Lorne Crescent, H2X 2B1, Montréal, Québec</wicri:regionArea></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: mahvash@cim.mcgill.ca</mods:affiliation><country wicri:rule="url">Canada</country></affiliation></author><author><name sortKey="Hayward, Vincent" sort="Hayward, Vincent" uniqKey="Hayward V" first="Vincent" last="Hayward">Vincent Hayward</name><affiliation wicri:level="1"><mods:affiliation>Center for Intelligent Machines, McGill University, H3A 2A7, Montréal, Québec, Canada</mods:affiliation><country xml:lang="fr">Canada</country><wicri:regionArea>Center for Intelligent Machines, McGill University, H3A 2A7, Montréal, Québec</wicri:regionArea></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: hayward@cim.mcgill.ca</mods:affiliation><country wicri:rule="url">Canada</country></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:746456E904B4854B4CB2296B197400D8983B7D93</idno><date when="2003" year="2003">2003</date><idno type="doi">10.1007/3-540-45015-7_30</idno><idno type="url">https://api.istex.fr/document/746456E904B4854B4CB2296B197400D8983B7D93/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">001A85</idno><idno type="wicri:Area/Istex/Curation">001A85</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Haptic Simulation of a Tool in Contact with a Nonlinear Deformable Body</title><author><name sortKey="Mahvash, Mohsen" sort="Mahvash, Mohsen" uniqKey="Mahvash M" first="Mohsen" last="Mahvash">Mohsen Mahvash</name><affiliation wicri:level="1"><mods:affiliation>Real Contact Inc. Lorne Crescent, H2X 2B1, Montréal, Québec, Canada</mods:affiliation><country xml:lang="fr">Canada</country><wicri:regionArea>Real Contact Inc. Lorne Crescent, H2X 2B1, Montréal, Québec</wicri:regionArea></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: mahvash@cim.mcgill.ca</mods:affiliation><country wicri:rule="url">Canada</country></affiliation></author><author><name sortKey="Hayward, Vincent" sort="Hayward, Vincent" uniqKey="Hayward V" first="Vincent" last="Hayward">Vincent Hayward</name><affiliation wicri:level="1"><mods:affiliation>Center for Intelligent Machines, McGill University, H3A 2A7, Montréal, Québec, Canada</mods:affiliation><country xml:lang="fr">Canada</country><wicri:regionArea>Center for Intelligent Machines, McGill University, H3A 2A7, Montréal, Québec</wicri:regionArea></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: hayward@cim.mcgill.ca</mods:affiliation><country wicri:rule="url">Canada</country></affiliation></author></analytic><monogr></monogr><series><title level="s">Lecture Notes in Computer Science</title><imprint><date>2003</date></imprint><idno type="ISSN">0302-9743</idno><idno type="ISSN">0302-9743</idno></series><idno type="istex">746456E904B4854B4CB2296B197400D8983B7D93</idno><idno type="DOI">10.1007/3-540-45015-7_30</idno><idno type="ChapterID">30</idno><idno type="ChapterID">Chap30</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0302-9743</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Abstract: This paper presents a method to artificially re-create haptic feedback while moving and sliding an arbitrary virtual tool against a virtual deformable body with nonlinear elastic properties. The computation of the response in such general cases is a task which does not yet admit computational solutions suitable for realtime implementation. To address this, we describe an approach based on the bookkeeping of forcede deflections curves stored at the nodes of a triangulated body surface. For realism, normal and lateral deformations at each node are represented in a range of deflection distances. The response everywhere is synthesized via area interpolation of response curves stored at the nodes of the mesh. The mathematical continuity of the synthetic response is the result of both local coordinates interpolation and of response function interpolation, which previous methods did not account for. This guarantees the absence of haptic‘ clicks’ and ‘pops’ which are unacceptable artifacts in high fidelity simulations. Sliding contacts are also considered.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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