Haptic Rendering of Interacting Dynamic Deformable Objects Simulated in Real-Time at Different Frequencies
Identifieur interne : 000266 ( Hal/Corpus ); précédent : 000265; suivant : 000267Haptic Rendering of Interacting Dynamic Deformable Objects Simulated in Real-Time at Different Frequencies
Auteurs : François Dervaux ; Igor Peterlik ; Jérémie Dequidt ; Stéphane Cotin ; Christian DuriezSource :
Abstract
The dynamic response of deformable bodies varies significantly in dependence on mechanical properties of the objects: while the dynamics of a stiff and light object (e. g. wire or needle) involves high-frequency phenomena such as vibrations, much lower frequencies are sufficient for capturing dynamic response of an object composed of a soft tissue. Yet, when simulating mechanical interactions between soft and stiff deformable models, a single time-step is usually employed to compute the time integration of dynamics of both objects. However, this can be a serious issue when haptic rendering of complex scenes composed of various bodies is considered. In this paper, we present a novel method allowing for dynamic simulation of a scene composed of colliding objects modelled at different frequencies: typically, the dynamics of soft objects are calculated at frequency about 50 Hz, while the dynamics of stiff object is modeled at 1 kHz, being directly connected to the computation of haptic force feedback. The collision response is performed at both low and high frequencies employing data structures which describe the actual constraints and are shared between the high and low frequency loops. During the simulation, the realistic behaviour of the objects according to the mechanical principles (such as non-interpenetration and action-reaction principle) is guaranteed. Examples showing the scenes involving different bodies in interaction are given, demonstrating the benefits of the proposed method.
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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></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:hal-00842866</idno><idno type="halId">hal-00842866</idno><idno type="halUri">https://hal.inria.fr/hal-00842866</idno><idno type="url">https://hal.inria.fr/hal-00842866</idno><date when="2013-11-03">2013-11-03</date><idno type="wicri:Area/Hal/Corpus">000266</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Haptic Rendering of Interacting Dynamic Deformable Objects Simulated in Real-Time at Different Frequencies</title><author><name sortKey="Dervaux, Francois" sort="Dervaux, Francois" uniqKey="Dervaux F" first="François" last="Dervaux">François Dervaux</name><affiliation><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 - 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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></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">The dynamic response of deformable bodies varies significantly in dependence on mechanical properties of the objects: while the dynamics of a stiff and light object (e. g. wire or needle) involves high-frequency phenomena such as vibrations, much lower frequencies are sufficient for capturing dynamic response of an object composed of a soft tissue. Yet, when simulating mechanical interactions between soft and stiff deformable models, a single time-step is usually employed to compute the time integration of dynamics of both objects. However, this can be a serious issue when haptic rendering of complex scenes composed of various bodies is considered. In this paper, we present a novel method allowing for dynamic simulation of a scene composed of colliding objects modelled at different frequencies: typically, the dynamics of soft objects are calculated at frequency about 50 Hz, while the dynamics of stiff object is modeled at 1 kHz, being directly connected to the computation of haptic force feedback. The collision response is performed at both low and high frequencies employing data structures which describe the actual constraints and are shared between the high and low frequency loops. During the simulation, the realistic behaviour of the objects according to the mechanical principles (such as non-interpenetration and action-reaction principle) is guaranteed. Examples showing the scenes involving different bodies in interaction are given, demonstrating the benefits of the proposed method.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Haptic Rendering of Interacting Dynamic Deformable Objects Simulated in Real-Time at Different Frequencies</title><author role="crp"><persName><forename type="first">François</forename><surname>Dervaux</surname></persName><email>francois.dervaux@inria.fr</email><idno type="halauthor">868442</idno><affiliation ref="#struct-186016"></affiliation><affiliation ref="#struct-2546"></affiliation></author><author role="aut"><persName><forename type="first">Igor</forename><surname>Peterlik</surname></persName><email>igor.peterlik@inria.fr</email><ptr type="url" target="http://www.peterlik.cz/"></ptr><idno type="halauthor">711214</idno><affiliation ref="#struct-217064"></affiliation></author><author role="aut"><persName><forename type="first">Jérémie</forename><surname>Dequidt</surname></persName><email>jeremie.dequidt@lifl.fr</email><ptr type="url" target="http://dequidt.plil.net"></ptr><idno type="halauthor">865027</idno><orgName ref="#struct-365973"></orgName><affiliation ref="#struct-186016"></affiliation><affiliation ref="#struct-92973"></affiliation></author><author role="aut"><persName><forename type="first">Stéphane</forename><surname>Cotin</surname></persName><email>stephane.cotin@inria.fr</email><ptr type="url" target="https://team.inria.fr/shacra/stephane-cotin/"></ptr><idno type="halauthor">865082</idno><affiliation ref="#struct-186016"></affiliation><affiliation ref="#struct-2546"></affiliation></author><author role="aut"><persName><forename type="first">Christian</forename><surname>Duriez</surname></persName><email>christian.duriez@inria.fr</email><ptr type="url" target="http://team.inria.fr/shacra/christian-duriez/"></ptr><idno type="idhal">christian-duriez</idno><idno type="halauthor">767532</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-186016"></affiliation><affiliation ref="#struct-2546"></affiliation></author><editor role="depositor"><persName><forename>François</forename><surname>Dervaux</surname></persName><email>francois.dervaux@inria.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2013-07-09 16:00:59</date><date type="whenModified">2016-01-15 16:49:55</date><date type="whenReleased">2013-07-09 21:08:42</date><date type="whenProduced">2013-11-03</date><date type="whenEndEmbargoed">2013-07-09</date><ref type="file" target="https://hal.inria.fr/hal-00842866/document"><date notBefore="2013-07-09"></date></ref><ref type="file" subtype="author" n="1" target="https://hal.inria.fr/hal-00842866/file/main.pdf"><date notBefore="2013-07-09"></date></ref></edition><respStmt><resp>contributor</resp><name key="184825"><persName><forename>François</forename><surname>Dervaux</surname></persName><email>francois.dervaux@inria.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">hal-00842866</idno><idno type="halUri">https://hal.inria.fr/hal-00842866</idno><idno type="halBibtex">dervaux:hal-00842866</idno><idno type="halRefHtml">IROS - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. IEEE, 2013</idno><idno type="halRef">IROS - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. IEEE, 2013</idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno><idno type="stamp" n="INRIA-LILLE">INRIA Lille - Nord Europe</idno><idno type="stamp" n="INRIA-LORRAINE">INRIA Nancy - Grand Est</idno><idno type="stamp" n="INRIA-NANCY-GRAND-EST">INRIA Nancy - Grand Est</idno><idno type="stamp" n="UNIV-LILLE3">Université de Lille Sciences humaines et sociales</idno><idno type="stamp" n="UNIV-STRASBG">Université de Strasbourg</idno><idno type="stamp" n="SOFA">Simulation Open Framework Architecture</idno><idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno><idno type="stamp" n="CRISTAL" p="UNIV-LILLE3">Centre de Recherche en Informatique, Signal et Automatique de Lille (CRISTAL)</idno><idno type="stamp" n="INRIA2">INRIA 2</idno></seriesStmt><notesStmt><note type="audience" n="2">International</note><note type="invited" n="0">No</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note><note type="proceedings" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Haptic Rendering of Interacting Dynamic Deformable Objects Simulated in Real-Time at Different Frequencies</title><author role="crp"><persName><forename type="first">François</forename><surname>Dervaux</surname></persName><email>francois.dervaux@inria.fr</email><idno type="halAuthorId">868442</idno><affiliation ref="#struct-186016"></affiliation><affiliation ref="#struct-2546"></affiliation></author><author role="aut"><persName><forename type="first">Igor</forename><surname>Peterlik</surname></persName><email>igor.peterlik@inria.fr</email><ptr type="url" target="http://www.peterlik.cz/"></ptr><idno type="halAuthorId">711214</idno><affiliation ref="#struct-217064"></affiliation></author><author role="aut"><persName><forename type="first">Jérémie</forename><surname>Dequidt</surname></persName><email>jeremie.dequidt@lifl.fr</email><ptr type="url" target="http://dequidt.plil.net"></ptr><idno type="halAuthorId">865027</idno><orgName ref="#struct-365973"></orgName><affiliation ref="#struct-186016"></affiliation><affiliation ref="#struct-92973"></affiliation></author><author role="aut"><persName><forename type="first">Stéphane</forename><surname>Cotin</surname></persName><email>stephane.cotin@inria.fr</email><ptr type="url" target="https://team.inria.fr/shacra/stephane-cotin/"></ptr><idno type="halAuthorId">865082</idno><affiliation ref="#struct-186016"></affiliation><affiliation ref="#struct-2546"></affiliation></author><author role="aut"><persName><forename type="first">Christian</forename><surname>Duriez</surname></persName><email>christian.duriez@inria.fr</email><ptr type="url" target="http://team.inria.fr/shacra/christian-duriez/"></ptr><idno type="idHal">christian-duriez</idno><idno type="halAuthorId">767532</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-186016"></affiliation><affiliation ref="#struct-2546"></affiliation></author></analytic><monogr><idno type="halJournalId" status="INCOMING">84018</idno><title level="j">Intelligent Robots and Systems (IROS)</title><meeting><title>IROS - IEEE/RSJ International Conference on Intelligent Robots and Systems</title><date type="start">2013-11-03</date><settlement>Tokyo</settlement><country key="JP">Japan</country></meeting><imprint><publisher>IEEE</publisher><date type="datePub">2013-11-03</date></imprint></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><classCode scheme="halDomain" n="info.info-im">Computer Science [cs]/Medical Imaging</classCode><classCode scheme="halTypology" n="COMM">Conference papers</classCode></textClass><abstract xml:lang="en">The dynamic response of deformable bodies varies significantly in dependence on mechanical properties of the objects: while the dynamics of a stiff and light object (e. g. wire or needle) involves high-frequency phenomena such as vibrations, much lower frequencies are sufficient for capturing dynamic response of an object composed of a soft tissue. Yet, when simulating mechanical interactions between soft and stiff deformable models, a single time-step is usually employed to compute the time integration of dynamics of both objects. However, this can be a serious issue when haptic rendering of complex scenes composed of various bodies is considered. In this paper, we present a novel method allowing for dynamic simulation of a scene composed of colliding objects modelled at different frequencies: typically, the dynamics of soft objects are calculated at frequency about 50 Hz, while the dynamics of stiff object is modeled at 1 kHz, being directly connected to the computation of haptic force feedback. The collision response is performed at both low and high frequencies employing data structures which describe the actual constraints and are shared between the high and low frequency loops. During the simulation, the realistic behaviour of the objects according to the mechanical principles (such as non-interpenetration and action-reaction principle) is guaranteed. Examples showing the scenes involving different bodies in interaction are given, demonstrating the benefits of the proposed method.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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