Ray-based haptic rendering: Force and torque interactions between a line probe and 3D objects in virtual environments
Identifieur interne : 007F64 ( Main/Exploration ); précédent : 007F63; suivant : 007F65Ray-based haptic rendering: Force and torque interactions between a line probe and 3D objects in virtual environments
Auteurs : C. H. Ho [États-Unis] ; C. Basdogan ; M. A. SrinivasanSource :
- International Journal of Robotics Research [ 0278-3649 ] ; 2000.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Réalité virtuelle.
English descriptors
- KwdEn :
- Algorithms, Computer simulation, Convex polyhedral objects, Experiments, Force measurement, Haptic interaction algorithms, Human computer interaction, Interactive devices, Mathematical models, Object recognition, Probes, Ray-based haptic rendering, Theory, Torque measurement, User interfaces, Virtual reality.
Abstract
Virtual environments (VEs) that enable the user to touch, feel, and manipulate virtual objects through haptic interactions are expected to have applications in many areas such as medicine, CAD/CAM, entertainment, fine arts, and education. The current state of technology allows the human operator to interact with virtual objects through the probe (such as a thimble or a stylus) of a force-reflecting haptic interface. Most of the current haptic interaction algorithms model the probe as a single point and allow the user to feel the forces that arise from point interactions with virtual objects. In this paper, we propose a ray-based haptic-rendering algorithm that enables the user to touch and feel convex polyhedral objects with a line segment model of the probe. The ray-based haptic-rendering algorithm computes both forces and torques due to collisions of the tip and/or side of the probe with multiple virtual objects, as required in simulating many tool-handling applications. Since the real-time simulation of haptic interactions between a 3D tool and objects is computationally quite expensive, the ray-based rendering can be considered as an intermediate step toward achieving this goal by simplifying the computational model of the tool. To compare the ray- and point-based haptic interaction techniques in the haptic perception of 3D objects, we conducted perceptual experiments in which the participants were asked to identify the shape of four different 3D primitives (sphere, cone, cylinder, and cube) that were displayed in random order using both point- and ray-based techniques. The results of the study show that on average, 3D objects are recognized faster with ray-based rendering than with point-based rendering.
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 001439
- to stream PascalFrancis, to step Curation: 000073
- to stream PascalFrancis, to step Checkpoint: 001200
- to stream Main, to step Merge: 008661
- to stream Main, to step Curation: 007F64
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Ray-based haptic rendering: Force and torque interactions between a line probe and 3D objects in virtual environments</title><author><name sortKey="Ho, C H" sort="Ho, C H" uniqKey="Ho C" first="C. H." last="Ho">C. H. Ho</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Massachusetts Inst of Technology</s1><s2>Cambridge MA</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Massachusetts Inst of Technology</wicri:noRegion></affiliation></author><author><name sortKey="Basdogan, C" sort="Basdogan, C" uniqKey="Basdogan C" first="C." last="Basdogan">C. Basdogan</name></author><author><name sortKey="Srinivasan, M A" sort="Srinivasan, M A" uniqKey="Srinivasan M" first="M. A." last="Srinivasan">M. A. Srinivasan</name></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">01-0083055</idno><date when="2000">2000</date><idno type="stanalyst">PASCAL 01-0083055 EI</idno><idno type="RBID">Pascal:01-0083055</idno><idno type="wicri:Area/PascalFrancis/Corpus">001439</idno><idno type="wicri:Area/PascalFrancis/Curation">000073</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">001200</idno><idno type="wicri:doubleKey">0278-3649:2000:Ho C:ray:based:haptic</idno><idno type="wicri:Area/Main/Merge">008661</idno><idno type="wicri:Area/Main/Curation">007F64</idno><idno type="wicri:Area/Main/Exploration">007F64</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Ray-based haptic rendering: Force and torque interactions between a line probe and 3D objects in virtual environments</title><author><name sortKey="Ho, C H" sort="Ho, C H" uniqKey="Ho C" first="C. H." last="Ho">C. H. Ho</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Massachusetts Inst of Technology</s1><s2>Cambridge MA</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Massachusetts Inst of Technology</wicri:noRegion></affiliation></author><author><name sortKey="Basdogan, C" sort="Basdogan, C" uniqKey="Basdogan C" first="C." last="Basdogan">C. Basdogan</name></author><author><name sortKey="Srinivasan, M A" sort="Srinivasan, M A" uniqKey="Srinivasan M" first="M. A." last="Srinivasan">M. A. Srinivasan</name></author></analytic><series><title level="j" type="main">International Journal of Robotics Research</title><title level="j" type="abbreviated">Int J Rob Res</title><idno type="ISSN">0278-3649</idno><imprint><date when="2000">2000</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">International Journal of Robotics Research</title><title level="j" type="abbreviated">Int J Rob Res</title><idno type="ISSN">0278-3649</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Computer simulation</term><term>Convex polyhedral objects</term><term>Experiments</term><term>Force measurement</term><term>Haptic interaction algorithms</term><term>Human computer interaction</term><term>Interactive devices</term><term>Mathematical models</term><term>Object recognition</term><term>Probes</term><term>Ray-based haptic rendering</term><term>Theory</term><term>Torque measurement</term><term>User interfaces</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Théorie</term><term>Dispositif conversationnel</term><term>Interface utilisateur</term><term>Relation homme machine</term><term>Sonde</term><term>Reconnaissance objet</term><term>Mesure force</term><term>Mesure couple mécanique</term><term>Algorithme</term><term>Modèle mathématique</term><term>Simulation ordinateur</term><term>Réalité virtuelle</term><term>Expérience</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Réalité virtuelle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Virtual environments (VEs) that enable the user to touch, feel, and manipulate virtual objects through haptic interactions are expected to have applications in many areas such as medicine, CAD/CAM, entertainment, fine arts, and education. The current state of technology allows the human operator to interact with virtual objects through the probe (such as a thimble or a stylus) of a force-reflecting haptic interface. Most of the current haptic interaction algorithms model the probe as a single point and allow the user to feel the forces that arise from point interactions with virtual objects. In this paper, we propose a ray-based haptic-rendering algorithm that enables the user to touch and feel convex polyhedral objects with a line segment model of the probe. The ray-based haptic-rendering algorithm computes both forces and torques due to collisions of the tip and/or side of the probe with multiple virtual objects, as required in simulating many tool-handling applications. Since the real-time simulation of haptic interactions between a 3D tool and objects is computationally quite expensive, the ray-based rendering can be considered as an intermediate step toward achieving this goal by simplifying the computational model of the tool. To compare the ray- and point-based haptic interaction techniques in the haptic perception of 3D objects, we conducted perceptual experiments in which the participants were asked to identify the shape of four different 3D primitives (sphere, cone, cylinder, and cube) that were displayed in random order using both point- and ray-based techniques. The results of the study show that on average, 3D objects are recognized faster with ray-based rendering than with point-based rendering.</div></front></TEI><affiliations><list><country><li>États-Unis</li></country></list><tree><noCountry><name sortKey="Basdogan, C" sort="Basdogan, C" uniqKey="Basdogan C" first="C." last="Basdogan">C. Basdogan</name><name sortKey="Srinivasan, M A" sort="Srinivasan, M A" uniqKey="Srinivasan M" first="M. A." last="Srinivasan">M. A. Srinivasan</name></noCountry><country name="États-Unis"><noRegion><name sortKey="Ho, C H" sort="Ho, C H" uniqKey="Ho C" first="C. H." last="Ho">C. H. Ho</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 007F64 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 007F64 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= Pascal:01-0083055
|texte= Ray-based haptic rendering: Force and torque interactions between a line probe and 3D objects in virtual environments
}}
| This area was generated with Dilib version V0.6.23. |  |