On the Synthesis of Haptic Textures
Identifieur interne : 005323 ( Main/Merge ); précédent : 005322; suivant : 005324On 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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Pascal:08-0327407Le document en format XML
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<term>Mechatronics</term>
<term>Passivity</term>
<term>Tactile sensitivity</term>
<term>Texture</term>
<term>User interface</term>
<term>Virtual reality</term>
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<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>
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<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>
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