HapticV1, Main, Exploration, bibRecordById, Pascal:04-0292105

Multirate analysis of haptic interaction stability with deformable objects

Identifieur interne : 007349 ( Main/Exploration ); précédent : 007348; suivant : 007350

Multirate analysis of haptic interaction stability with deformable objects

Auteurs : Federico Barbagli [Italie] ; Domenico Prattichizzo [Italie] ; Kenneth Salisbury [États-Unis]

Source :

RBID : Pascal:04-0292105

Descripteurs français

Pascal (Inist)
- Système multicadence, Stabilité, Ajustement modèle, Rétroaction, Interface utilisateur, Sensibilité tactile, Opérateur humain, Réalité virtuelle, Chirurgie, Modélisation.
Wicri :
- topic : Réalité virtuelle, Chirurgie.

English descriptors

KwdEn :
- Feedback regulation, Human operator, Model matching, Modeling, Multirate system, Stability, Surgery, Tactile sensitivity, User interface, Virtual reality.

Abstract

This paper describes a new technique for allowing multiple users to haptically interact with a set of deformable slowly-simulated objects in a stable manner. Stability has been approached in the past by various researchers using passivity theory in order to avoid having to model the human operator closing the haptic loop. None of these solutions however can work well without the use of high update rates and thus break down in the case of haptic interaction with slowly simulated virtual environments such as the ones featuring highly precise deformable objects. This is particularly true for the case of surgical simulation with force feedback, where precision is a key issue and where complexity can reach high levels. The techniques presented in this paper are based on the concepts of local model for haptic interaction adapted to deformable objects. Such approach allows multiple users to stably interact with a same object while feeling the influence of other users on the same object. Experimental results employing a PHANTOM haptic interface are proposed for a simple example.

Affiliations:

Italie, États-Unis

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000F96
to stream PascalFrancis, to step Curation: 000513
to stream PascalFrancis, to step Checkpoint: 000F54
to stream Main, to step Merge: 007894
to stream Main, to step Curation: 007349

Le document en format XML

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<term>Tactile sensitivity</term>
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<term>Stabilité</term>
<term>Ajustement modèle</term>
<term>Rétroaction</term>
<term>Interface utilisateur</term>
<term>Sensibilité tactile</term>
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Multirate analysis of haptic interaction stability with deformable objects

Multirate analysis of haptic interaction stability with deformable objects

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri