Asynchronous haptic simulation of contacting deformable objects with variable stiffness
Identifieur interne : 000493 ( France/Analysis ); précédent : 000492; suivant : 000494Asynchronous haptic simulation of contacting deformable objects with variable stiffness
Auteurs : Igor Peterlik [France] ; Christian Duriez [France] ; Stéphane Cotin [France]Source :
Abstract
Abstract--This paper presents a new asynchronous approach for haptic rendering of deformable objects. When stiff nonlinear deformations take place, they introduce important and rapid variations of the force sent to the user. This problem is similar to the stiff virtual wall for which a high refresh rate is required to obtain a stable haptic feedback. However, when dealing with several interacting deformable objects, it is usually impossible to simulate all objects at high rates. To address this problem we propose a quasi-static framework that allows for stable interactions of asynchronously computed deformable objects. In the proposed approach, a deformable object can be computed at high refresh rates, while the remaining deformable virtual objects remain computed at low refresh rates. Moreover, contacts and other constraints between the different objects of the virtual environment are accurately solved using a shared Linear Complementarity Problem (LCP). Finally, we demonstrate our method on two test cases: a snap-in example involving non-linear deformations and a virtual thread interacting with a deformable object.
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Nord Europe</orgName><desc><address><addrLine>Parc Scientifique de la Haute Borne 40, avenue Halley Bât.A, Park Plaza 59650 Villeneuve d'Ascq</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/lille/</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-129671" type="direct"><org type="laboratory" xml:id="struct-129671" status="VALID"><idno type="RNSR">198618246Y</idno><orgName>INRIA Nancy - Grand Est</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/nancy</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Cotin, Stephane" sort="Cotin, Stephane" uniqKey="Cotin S" first="Stéphane" last="Cotin">Stéphane Cotin</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-186016" status="VALID"><idno type="RNSR">201221029K</idno><orgName>Simulation in Healthcare using Computer Research Advances</orgName><orgName type="acronym">SHACRA</orgName><desc><address><addrLine>Inria // 50 Avenue Halley // 59650 Villeneuve d'Ascq // France and IRCAD // 1 Place de l'Hôpital // 67000 Strasbourg // France</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/shacra</ref></desc><listRelation><relation active="#struct-2546" type="direct"></relation><relation active="#struct-301700" type="indirect"></relation><relation active="#struct-92973" type="indirect"></relation><relation active="#struct-300009" type="indirect"></relation><relation name="UMR8022" active="#struct-441569" type="indirect"></relation><relation active="#struct-104752" type="direct"></relation><relation active="#struct-129671" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-2546" type="direct"><org type="laboratory" xml:id="struct-2546" status="VALID"><orgName>Laboratoire d'Informatique Fondamentale de Lille</orgName><orgName type="acronym">LIFL</orgName><desc><address><addrLine>Bâtiment M3 59655 Villeneuve d'Ascq Cédex</addrLine><country key="FR"></country></address><ref type="url">http://www.lifl.fr/</ref></desc><listRelation><relation active="#struct-301700" type="direct"></relation><relation active="#struct-92973" type="direct"></relation><relation active="#struct-300009" type="direct"></relation><relation name="UMR8022" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-301700" type="indirect"><org type="institution" xml:id="struct-301700" status="VALID"><idno type="IdRef">026404524</idno><idno type="ISNI">0000000121517701</idno><orgName>Université de Lille, Sciences Humaines et Sociales</orgName><desc><address><addrLine>Domaine universitaire du "Pont de Bois"Rue du Barreau BP 60149 59653 Villeneuve d'Ascq Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lille3.fr/</ref></desc></org></tutelle><tutelle active="#struct-92973" type="indirect"><org type="institution" xml:id="struct-92973" status="VALID"><idno type="IdRef">026404184</idno><orgName>Université de Lille, Sciences et Technologies</orgName><desc><address><addrLine>Cité Scientifique - 59655 Villeneuve d'Ascq Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lille1.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle name="UMR8022" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-104752" type="direct"><org type="laboratory" xml:id="struct-104752" status="VALID"><idno type="RNSR">200818245B</idno><orgName>INRIA Lille - Nord Europe</orgName><desc><address><addrLine>Parc Scientifique de la Haute Borne 40, avenue Halley Bât.A, Park Plaza 59650 Villeneuve d'Ascq</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/lille/</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-129671" type="direct"><org type="laboratory" xml:id="struct-129671" status="VALID"><idno type="RNSR">198618246Y</idno><orgName>INRIA Nancy - Grand Est</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/nancy</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Abstract--This paper presents a new asynchronous approach for haptic rendering of deformable objects. When stiff nonlinear deformations take place, they introduce important and rapid variations of the force sent to the user. This problem is similar to the stiff virtual wall for which a high refresh rate is required to obtain a stable haptic feedback. However, when dealing with several interacting deformable objects, it is usually impossible to simulate all objects at high rates. To address this problem we propose a quasi-static framework that allows for stable interactions of asynchronously computed deformable objects. In the proposed approach, a deformable object can be computed at high refresh rates, while the remaining deformable virtual objects remain computed at low refresh rates. Moreover, contacts and other constraints between the different objects of the virtual environment are accurately solved using a shared Linear Complementarity Problem (LCP). Finally, we demonstrate our method on two test cases: a snap-in example involving non-linear deformations and a virtual thread interacting with a deformable object.</div></front></TEI><affiliations><list><country><li>France</li></country></list><tree><country name="France"><noRegion><name sortKey="Peterlik, Igor" sort="Peterlik, Igor" uniqKey="Peterlik I" first="Igor" last="Peterlik">Igor Peterlik</name></noRegion><name sortKey="Cotin, Stephane" sort="Cotin, Stephane" uniqKey="Cotin S" first="Stéphane" last="Cotin">Stéphane Cotin</name><name sortKey="Duriez, Christian" sort="Duriez, Christian" uniqKey="Duriez C" first="Christian" last="Duriez">Christian Duriez</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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|area= HapticV1
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|texte= Asynchronous haptic simulation of contacting deformable objects with variable stiffness
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