On the Synthesis of Haptic Textures
Identifieur interne : 005199 ( Main/Exploration ); précédent : 005198; suivant : 005200On the Synthesis of Haptic Textures
Auteurs : Gianni Campion [Canada] ; Vincent Hayward [Canada]Source :
- IEEE transactions on robotics [ 1552-3098 ] ; 2008.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Réalité virtuelle.
English descriptors
- KwdEn :
Abstract
Advanced, synthetic haptic virtual environments require textured virtual surfaces. We found that texturing smooth surfaces often reduces the system passivity margin of a haptic simulation. As a result, a smooth virtual surface that can be rendered in a passive manner may loose this property once textured. We propose that any texture algorithm is associated with a characteristic number that expresses the relative change in loop gain. We further found that a passive virtual interaction can have severe unwanted artifacts if the synthesized force field is not conservative. The energy characteristics of seven algorithms are analyzed. Finally, a new texture synthesis algorithm, which operates by modulating a friction force during scanning, is shown to have several advantages over previous ones.
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Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">On the Synthesis of Haptic Textures</title><author><name sortKey="Campion, Gianni" sort="Campion, Gianni" uniqKey="Campion G" first="Gianni" last="Campion">Gianni Campion</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Haptics Laboratory, Center For Intelligent Machines, McGill University</s1><s2>Montréal, QC H3A 2A7</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Canada</country><placeName><settlement type="city">Montréal</settlement><region type="state">Québec</region></placeName><orgName type="university">Université McGill</orgName></affiliation></author><author><name sortKey="Hayward, Vincent" sort="Hayward, Vincent" uniqKey="Hayward V" first="Vincent" last="Hayward">Vincent Hayward</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Haptics Laboratory, Center For Intelligent Machines, McGill University</s1><s2>Montréal, QC H3A 2A7</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Canada</country><placeName><settlement type="city">Montréal</settlement><region type="state">Québec</region></placeName><orgName type="university">Université McGill</orgName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">08-0327407</idno><date when="2008">2008</date><idno type="stanalyst">PASCAL 08-0327407 INIST</idno><idno type="RBID">Pascal:08-0327407</idno><idno type="wicri:Area/PascalFrancis/Corpus">000933</idno><idno type="wicri:Area/PascalFrancis/Curation">000B31</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000689</idno><idno type="wicri:doubleKey">1552-3098:2008:Campion G:on:the:synthesis</idno><idno type="wicri:Area/Main/Merge">005323</idno><idno type="wicri:Area/Main/Curation">005199</idno><idno type="wicri:Area/Main/Exploration">005199</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">On the Synthesis of Haptic Textures</title><author><name sortKey="Campion, Gianni" sort="Campion, Gianni" uniqKey="Campion G" first="Gianni" last="Campion">Gianni Campion</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Haptics Laboratory, Center For Intelligent Machines, McGill University</s1><s2>Montréal, QC H3A 2A7</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Canada</country><placeName><settlement type="city">Montréal</settlement><region type="state">Québec</region></placeName><orgName type="university">Université McGill</orgName></affiliation></author><author><name sortKey="Hayward, Vincent" sort="Hayward, Vincent" uniqKey="Hayward V" first="Vincent" last="Hayward">Vincent Hayward</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Haptics Laboratory, Center For Intelligent Machines, McGill University</s1><s2>Montréal, QC H3A 2A7</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Canada</country><placeName><settlement type="city">Montréal</settlement><region type="state">Québec</region></placeName><orgName type="university">Université McGill</orgName></affiliation></author></analytic><series><title level="j" type="main">IEEE transactions on robotics </title><title level="j" type="abbreviated">IEEE trans. robot. </title><idno type="ISSN">1552-3098</idno><imprint><date when="2008">2008</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE transactions on robotics </title><title level="j" type="abbreviated">IEEE trans. robot. </title><idno type="ISSN">1552-3098</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Control synthesis</term><term>Energy characteristic</term><term>Friction</term><term>Mechatronics</term><term>Passivity</term><term>Tactile sensitivity</term><term>Texture</term><term>User interface</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Passivité</term><term>Synthèse commande</term><term>Mécatronique</term><term>Sensibilité tactile</term><term>Texture</term><term>Réalité virtuelle</term><term>Caractéristique énergétique</term><term>Frottement</term><term>Interface utilisateur</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">Advanced, synthetic haptic virtual environments require textured virtual surfaces. We found that texturing smooth surfaces often reduces the system passivity margin of a haptic simulation. As a result, a smooth virtual surface that can be rendered in a passive manner may loose this property once textured. We propose that any texture algorithm is associated with a characteristic number that expresses the relative change in loop gain. We further found that a passive virtual interaction can have severe unwanted artifacts if the synthesized force field is not conservative. The energy characteristics of seven algorithms are analyzed. Finally, a new texture synthesis algorithm, which operates by modulating a friction force during scanning, is shown to have several advantages over previous ones.</div></front></TEI><affiliations><list><country><li>Canada</li></country><region><li>Québec</li></region><settlement><li>Montréal</li></settlement><orgName><li>Université McGill</li></orgName></list><tree><country name="Canada"><region name="Québec"><name sortKey="Campion, Gianni" sort="Campion, Gianni" uniqKey="Campion G" first="Gianni" last="Campion">Gianni Campion</name></region><name sortKey="Hayward, Vincent" sort="Hayward, Vincent" uniqKey="Hayward V" first="Vincent" last="Hayward">Vincent Hayward</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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