Realistic haptic rendering of interacting deformable objects in virtual environments.
Identifieur interne : 00A538 ( Main/Exploration ); précédent : 00A537; suivant : 00A539Realistic haptic rendering of interacting deformable objects in virtual environments.
Auteurs : Christian Duriez [États-Unis] ; Frédéric Dubois ; Abderrahmane Kheddar ; Claude AndriotSource :
- IEEE transactions on visualization and computer graphics [ 1077-2626 ]
English descriptors
- KwdEn :
- Algorithms, Computer Graphics, Computer Peripherals, Computer Simulation, Computer Systems, Elasticity, Environment, Controlled, Image Enhancement (methods), Image Interpretation, Computer-Assisted (methods), Imaging, Three-Dimensional (methods), Models, Biological, Signal Processing, Computer-Assisted, Stress, Mechanical, Touch (physiology), User-Computer Interface.
- MESH :
- methods : Image Enhancement, Image Interpretation, Computer-Assisted, Imaging, Three-Dimensional.
- physiology : Touch.
- Algorithms, Computer Graphics, Computer Peripherals, Computer Simulation, Computer Systems, Elasticity, Environment, Controlled, Models, Biological, Signal Processing, Computer-Assisted, Stress, Mechanical, User-Computer Interface.
- mix :
Abstract
A new computer haptics algorithm to be used in general interactive manipulations of deformable virtual objects is presented. In multimodal interactive simulations, haptic feedback computation often comes from contact forces. Subsequently, the fidelity of haptic rendering depends significantly on contact space modeling. Contact and friction laws between deformable models are often simplified in up to date methods. They do not allow a "realistic" rendering of the subtleties of contact space physical phenomena (such as slip and stick effects due to friction or mechanical coupling between contacts). In this paper, we use Signorini's contact law and Coulomb's friction law as a computer haptics basis. Real-time performance is made possible thanks to a linearization of the behavior in the contact space, formulated as the so-called Delassus operator, and iteratively solved by a Gauss-Seidel type algorithm. Dynamic deformation uses corotational global formulation to obtain the Delassus operator in which the mass and stiffness ratio are dissociated from the simulation time step. This last point is crucial to keep stable haptic feedback. This global approach has been packaged, implemented, and tested. Stable and realistic 6D haptic feedback is demonstrated through a clipping task experiment.
Url:
DOI: 10.1109/TVCG.2006.13
PubMed: 16382606
Affiliations:
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Le document en format XML
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Claude" sort="Andriot, Claude" uniqKey="Andriot C" first="Claude" last="Andriot">Claude Andriot</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="????"><PubDate><MedlineDate>2006 Jan-Feb</MedlineDate></PubDate></date><idno type="RBID">pubmed:16382606</idno><idno type="pmid">16382606</idno><idno type="doi">10.1109/TVCG.2006.13</idno><idno type="wicri:Area/PubMed/Corpus">001875</idno><idno type="wicri:Area/PubMed/Curation">001875</idno><idno type="wicri:Area/PubMed/Checkpoint">002290</idno><idno type="wicri:Area/Ncbi/Merge">000832</idno><idno type="wicri:Area/Ncbi/Curation">000832</idno><idno type="wicri:Area/Ncbi/Checkpoint">000832</idno><idno type="wicri:doubleKey">1077-2626::Duriez C:realistic:haptic:rendering</idno><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:hal-00342920</idno><idno type="url">https://hal.archives-ouvertes.fr/hal-00342920</idno><idno type="wicri:Area/Hal/Corpus">000441</idno><idno 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type="state">Massachusetts</region></placeName></affiliation></author><author><name sortKey="Dubois, Frederic" sort="Dubois, Frederic" uniqKey="Dubois F" first="Frédéric" last="Dubois">Frédéric Dubois</name></author><author><name sortKey="Kheddar, Abderrahmane" sort="Kheddar, Abderrahmane" uniqKey="Kheddar A" first="Abderrahmane" last="Kheddar">Abderrahmane Kheddar</name></author><author><name sortKey="Andriot, Claude" sort="Andriot, Claude" uniqKey="Andriot C" first="Claude" last="Andriot">Claude Andriot</name></author></analytic><series><title level="j">IEEE transactions on visualization and computer graphics</title><idno type="ISSN">1077-2626</idno></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Computer Graphics</term><term>Computer Peripherals</term><term>Computer Simulation</term><term>Computer Systems</term><term>Elasticity</term><term>Environment, Controlled</term><term>Image Enhancement (methods)</term><term>Image Interpretation, Computer-Assisted (methods)</term><term>Imaging, Three-Dimensional (methods)</term><term>Models, Biological</term><term>Signal Processing, Computer-Assisted</term><term>Stress, Mechanical</term><term>Touch (physiology)</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Image Enhancement</term><term>Image Interpretation, Computer-Assisted</term><term>Imaging, Three-Dimensional</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Touch</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Computer Graphics</term><term>Computer Peripherals</term><term>Computer Simulation</term><term>Computer Systems</term><term>Elasticity</term><term>Environment, Controlled</term><term>Models, Biological</term><term>Signal Processing, Computer-Assisted</term><term>Stress, Mechanical</term><term>User-Computer Interface</term></keywords><keywords scheme="mix" xml:lang="en"><term>Computer haptics</term><term>Coulomb&apos</term><term>Delassus operator</term><term>Gauss-Seidel type resolution</term><term>Signorini&apos</term><term>corotational deformable objects</term><term>real-time simulation</term><term>s friction law</term><term>s law</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">A new computer haptics algorithm to be used in general interactive manipulations of deformable virtual objects is presented. In multimodal interactive simulations, haptic feedback computation often comes from contact forces. Subsequently, the fidelity of haptic rendering depends significantly on contact space modeling. Contact and friction laws between deformable models are often simplified in up to date methods. They do not allow a "realistic" rendering of the subtleties of contact space physical phenomena (such as slip and stick effects due to friction or mechanical coupling between contacts). In this paper, we use Signorini's contact law and Coulomb's friction law as a computer haptics basis. Real-time performance is made possible thanks to a linearization of the behavior in the contact space, formulated as the so-called Delassus operator, and iteratively solved by a Gauss-Seidel type algorithm. Dynamic deformation uses corotational global formulation to obtain the Delassus operator in which the mass and stiffness ratio are dissociated from the simulation time step. This last point is crucial to keep stable haptic feedback. This global approach has been packaged, implemented, and tested. Stable and realistic 6D haptic feedback is demonstrated through a clipping task experiment.</div></front></TEI><affiliations><list><country><li>États-Unis</li></country><region><li>Massachusetts</li></region></list><tree><noCountry><name sortKey="Andriot, Claude" sort="Andriot, Claude" uniqKey="Andriot C" first="Claude" last="Andriot">Claude Andriot</name><name sortKey="Dubois, Frederic" sort="Dubois, Frederic" uniqKey="Dubois F" first="Frédéric" last="Dubois">Frédéric Dubois</name><name sortKey="Kheddar, Abderrahmane" sort="Kheddar, Abderrahmane" uniqKey="Kheddar A" first="Abderrahmane" last="Kheddar">Abderrahmane Kheddar</name></noCountry><country name="États-Unis"><region name="Massachusetts"><name sortKey="Duriez, Christian" sort="Duriez, Christian" uniqKey="Duriez C" first="Christian" last="Duriez">Christian Duriez</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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