Ray-based haptic rendering: Force and torque interactions between a line probe and 3D objects in virtual environments
Identifieur interne : 001439 ( PascalFrancis/Corpus ); précédent : 001438; suivant : 001440Ray-based haptic rendering: Force and torque interactions between a line probe and 3D objects in virtual environments
Auteurs : C. H. Ho ; C. Basdogan ; M. A. SrinivasanSource :
- International Journal of Robotics Research [ 0278-3649 ] ; 2000.
Descripteurs français
- Pascal (Inist)
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.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
| pA |
|
|---|
Format Inist (serveur)
| NO : | PASCAL 01-0083055 EI |
|---|---|
| ET : | Ray-based haptic rendering: Force and torque interactions between a line probe and 3D objects in virtual environments |
| AU : | HO (C. H.); BASDOGAN (C.); SRINIVASAN (M. A.) |
| AF : | Massachusetts Inst of Technology/Cambridge MA/Etats-Unis (1 aut.) |
| DT : | Publication en série; Niveau analytique |
| SO : | International Journal of Robotics Research; ISSN 0278-3649; Coden IJRREL; Etats-Unis; Da. 2000; Vol. 19; No. 7; Pp. 668-683; Bibl. 30 Refs. |
| LA : | Anglais |
| EA : | 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. |
| CC : | 001D02B; 001D03J03; 001D02B12; 001B00G; 001A02 |
| FD : | Théorie; Dispositif conversationnel; Interface utilisateur; Relation homme machine; Sonde; Reconnaissance objet; Mesure force; Mesure couple mécanique; Algorithme; Modèle mathématique; Simulation ordinateur; Réalité virtuelle; Expérience |
| ED : | Ray-based haptic rendering; Haptic interaction algorithms; Convex polyhedral objects; Theory; Interactive devices; User interfaces; Human computer interaction; Probes; Object recognition; Force measurement; Torque measurement; Algorithms; Mathematical models; Computer simulation; Virtual reality; Experiments |
| LO : | INIST-20091 |
| ID : | 01-0083055 |
Links to Exploration step
Pascal:01-0083055Le 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><inist:fA14 i1="01"><s1>Massachusetts Inst of Technology</s1><s2>Cambridge MA</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14></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></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><inist:fA14 i1="01"><s1>Massachusetts Inst of Technology</s1><s2>Cambridge MA</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14></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></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><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0278-3649</s0></fA01><fA02 i1="01"><s0>IJRREL</s0></fA02><fA03 i2="1"><s0>Int J Rob Res</s0></fA03><fA05><s2>19</s2></fA05><fA06><s2>7</s2></fA06><fA08 i1="01" i2="1" l="ENG"><s1>Ray-based haptic rendering: Force and torque interactions between a line probe and 3D objects in virtual environments</s1></fA08><fA11 i1="01" i2="1"><s1>HO (C. H.)</s1></fA11><fA11 i1="02" i2="1"><s1>BASDOGAN (C.)</s1></fA11><fA11 i1="03" i2="1"><s1>SRINIVASAN (M. A.)</s1></fA11><fA14 i1="01"><s1>Massachusetts Inst of Technology</s1><s2>Cambridge MA</s2><s3>USA</s3><sZ>1 aut.</sZ></fA14><fA20><s1>668-683</s1></fA20><fA21><s1>2000</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA43 i1="01"><s1>INIST</s1><s2>20091</s2></fA43><fA44><s0>A100</s0></fA44><fA45><s0>30 Refs.</s0></fA45><fA47 i1="01" i2="1"><s0>01-0083055</s0></fA47><fA60><s1>P</s1></fA60><fA61><s0>A</s0></fA61><fA64 i1="01" i2="1"><s0>International Journal of Robotics Research</s0></fA64><fA66 i1="01"><s0>USA</s0></fA66><fC01 i1="01" l="ENG"><s0>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.</s0></fC01><fC02 i1="01" i2="X"><s0>001D02B</s0></fC02><fC02 i1="02" i2="X"><s0>001D03J03</s0></fC02><fC02 i1="03" i2="X"><s0>001D02B12</s0></fC02><fC02 i1="04" i2="3"><s0>001B00G</s0></fC02><fC02 i1="05" i2="X"><s0>001A02</s0></fC02><fC03 i1="01" i2="1" l="ENG"><s0>Ray-based haptic rendering</s0><s4>INC</s4></fC03><fC03 i1="02" i2="1" l="ENG"><s0>Haptic interaction algorithms</s0><s4>INC</s4></fC03><fC03 i1="03" i2="1" l="ENG"><s0>Convex polyhedral objects</s0><s4>INC</s4></fC03><fC03 i1="04" i2="1" l="FRE"><s0>Théorie</s0></fC03><fC03 i1="04" i2="1" l="ENG"><s0>Theory</s0></fC03><fC03 i1="05" i2="1" l="FRE"><s0>Dispositif conversationnel</s0></fC03><fC03 i1="05" i2="1" l="ENG"><s0>Interactive devices</s0></fC03><fC03 i1="06" i2="1" l="FRE"><s0>Interface utilisateur</s0></fC03><fC03 i1="06" i2="1" l="ENG"><s0>User interfaces</s0></fC03><fC03 i1="07" i2="1" l="FRE"><s0>Relation homme machine</s0></fC03><fC03 i1="07" i2="1" l="ENG"><s0>Human computer interaction</s0></fC03><fC03 i1="08" i2="1" l="FRE"><s0>Sonde</s0></fC03><fC03 i1="08" i2="1" l="ENG"><s0>Probes</s0></fC03><fC03 i1="09" i2="1" l="FRE"><s0>Reconnaissance objet</s0></fC03><fC03 i1="09" i2="1" l="ENG"><s0>Object recognition</s0></fC03><fC03 i1="10" i2="1" l="FRE"><s0>Mesure force</s0></fC03><fC03 i1="10" i2="1" l="ENG"><s0>Force measurement</s0></fC03><fC03 i1="11" i2="1" l="FRE"><s0>Mesure couple mécanique</s0></fC03><fC03 i1="11" i2="1" l="ENG"><s0>Torque measurement</s0></fC03><fC03 i1="12" i2="1" l="FRE"><s0>Algorithme</s0></fC03><fC03 i1="12" i2="1" l="ENG"><s0>Algorithms</s0></fC03><fC03 i1="13" i2="1" l="FRE"><s0>Modèle mathématique</s0></fC03><fC03 i1="13" i2="1" l="ENG"><s0>Mathematical models</s0></fC03><fC03 i1="14" i2="1" l="FRE"><s0>Simulation ordinateur</s0></fC03><fC03 i1="14" i2="1" l="ENG"><s0>Computer simulation</s0></fC03><fC03 i1="15" i2="1" l="FRE"><s0>Réalité virtuelle</s0><s3>P</s3></fC03><fC03 i1="15" i2="1" l="ENG"><s0>Virtual reality</s0><s3>P</s3></fC03><fC03 i1="16" i2="1" l="FRE"><s0>Expérience</s0></fC03><fC03 i1="16" i2="1" l="ENG"><s0>Experiments</s0></fC03><fN21><s1>063</s1></fN21></pA></standard><server><NO>PASCAL 01-0083055 EI</NO><ET>Ray-based haptic rendering: Force and torque interactions between a line probe and 3D objects in virtual environments</ET><AU>HO (C. H.); BASDOGAN (C.); SRINIVASAN (M. A.)</AU><AF>Massachusetts Inst of Technology/Cambridge MA/Etats-Unis (1 aut.)</AF><DT>Publication en série; Niveau analytique</DT><SO>International Journal of Robotics Research; ISSN 0278-3649; Coden IJRREL; Etats-Unis; Da. 2000; Vol. 19; No. 7; Pp. 668-683; Bibl. 30 Refs.</SO><LA>Anglais</LA><EA>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.</EA><CC>001D02B; 001D03J03; 001D02B12; 001B00G; 001A02</CC><FD>Théorie; Dispositif conversationnel; Interface utilisateur; Relation homme machine; Sonde; Reconnaissance objet; Mesure force; Mesure couple mécanique; Algorithme; Modèle mathématique; Simulation ordinateur; Réalité virtuelle; Expérience</FD><ED>Ray-based haptic rendering; Haptic interaction algorithms; Convex polyhedral objects; Theory; Interactive devices; User interfaces; Human computer interaction; Probes; Object recognition; Force measurement; Torque measurement; Algorithms; Mathematical models; Computer simulation; Virtual reality; Experiments</ED><LO>INIST-20091</LO><ID>01-0083055</ID></server></inist></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Corpus
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001439 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Corpus/biblio.hfd -nk 001439 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= PascalFrancis
|étape= Corpus
|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. |  |