HapticV1, PascalFrancis, Corpus, bibRecord, 000E69

Haptic rendering of rigid contacts using impulsive and penalty forces

Identifieur interne : 000E69 ( PascalFrancis/Corpus ); précédent : 000E68; suivant : 000E70

Haptic rendering of rigid contacts using impulsive and penalty forces

Auteurs : Daniela Constantinescu ; Septimiu E. Salcudean ; Elizabeth A. Croft

Source :

IEEE transactions on robotics

RBID : Pascal:05-0344164

Descripteurs français

Pascal (Inist)
- Sensibilité tactile, Interface utilisateur, Réalité virtuelle, Frottement, Collision, Energie cinétique, Main, Mécanisme articulé, Interaction contact.

English descriptors

KwdEn :
- Collision, Contact interaction, Friction, Hand, Kinetic energy, Linkage mechanism, Tactile sensitivity, User interface, Virtual reality.

Abstract

A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A05				`@2 21`
A06				`@2 3`
A08	`01`	`1`	`ENG`	`@1 Haptic rendering of rigid contacts using impulsive and penalty forces`
A11	`01`	`1`		`@1 CONSTANTINESCU (Daniela)`
A11	`02`	`1`		`@1 SALCUDEAN (Septimiu E.)`
A11	`03`	`1`		`@1 CROFT (Elizabeth A.)`
A14	`01`			`@1 Robotics and Control Laboratory and the Department of Electrical and Computer Engineering, University of British Columbia @2 Vancouver, BC V6T 1Z4 @3 CAN @Z 1 aut. @Z 2 aut.`
A14	`02`			`@1 Industrial Automation Laboratory and the Department of Mechanical Engineering, University of British Columbia @2 Vancouver, BC V6T 1Z4 @3 CAN @Z 3 aut.`
A20				`@1 309-323`
A21				`@1 2005`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 21023A @5 354000138217320040`
A44				`@0 0000 @1 © 2005 INIST-CNRS. All rights reserved.`
A45				`@0 35 ref.`
A47	`01`	`1`		`@0 05-0344164`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`2`		`@0 IEEE transactions on robotics`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach.
C02	`01`	`X`		`@0 001D12E06`
C03	`01`	`X`	`FRE`	`@0 Sensibilité tactile @5 18`
C03	`01`	`X`	`ENG`	`@0 Tactile sensitivity @5 18`
C03	`01`	`X`	`SPA`	`@0 Sensibilidad tactil @5 18`
C03	`02`	`X`	`FRE`	`@0 Interface utilisateur @5 19`
C03	`02`	`X`	`ENG`	`@0 User interface @5 19`
C03	`02`	`X`	`SPA`	`@0 Interfase usuario @5 19`
C03	`03`	`X`	`FRE`	`@0 Réalité virtuelle @5 20`
C03	`03`	`X`	`ENG`	`@0 Virtual reality @5 20`
C03	`03`	`X`	`SPA`	`@0 Realidad virtual @5 20`
C03	`04`	`X`	`FRE`	`@0 Frottement @5 21`
C03	`04`	`X`	`ENG`	`@0 Friction @5 21`
C03	`04`	`X`	`SPA`	`@0 Frotamiento @5 21`
C03	`05`	`X`	`FRE`	`@0 Collision @5 22`
C03	`05`	`X`	`ENG`	`@0 Collision @5 22`
C03	`05`	`X`	`SPA`	`@0 Colisión @5 22`
C03	`06`	`X`	`FRE`	`@0 Energie cinétique @5 23`
C03	`06`	`X`	`ENG`	`@0 Kinetic energy @5 23`
C03	`06`	`X`	`SPA`	`@0 Energía cinética @5 23`
C03	`07`	`X`	`FRE`	`@0 Main @5 24`
C03	`07`	`X`	`ENG`	`@0 Hand @5 24`
C03	`07`	`X`	`SPA`	`@0 Mano @5 24`
C03	`08`	`X`	`FRE`	`@0 Mécanisme articulé @5 25`
C03	`08`	`X`	`ENG`	`@0 Linkage mechanism @5 25`
C03	`08`	`X`	`SPA`	`@0 Mecanismo articulado @5 25`
C03	`09`	`X`	`FRE`	`@0 Interaction contact @5 28`
C03	`09`	`X`	`ENG`	`@0 Contact interaction @5 28`
C03	`09`	`X`	`SPA`	`@0 Interacción contacto @5 28`
N21				`@1 241`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 05-0344164 INIST
ET :	Haptic rendering of rigid contacts using impulsive and penalty forces
AU :	CONSTANTINESCU (Daniela); SALCUDEAN (Septimiu E.); CROFT (Elizabeth A.)
AF :	Robotics and Control Laboratory and the Department of Electrical and Computer Engineering, University of British Columbia/Vancouver, BC V6T 1Z4/Canada (1 aut., 2 aut.); Industrial Automation Laboratory and the Department of Mechanical Engineering, University of British Columbia/Vancouver, BC V6T 1Z4/Canada (3 aut.)
DT :	Publication en série; Niveau analytique
SO :	IEEE transactions on robotics; Etats-Unis; Da. 2005; Vol. 21; No. 3; Pp. 309-323; Bibl. 35 ref.
LA :	Anglais
EA :	A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach.
CC :	001D12E06
FD :	Sensibilité tactile; Interface utilisateur; Réalité virtuelle; Frottement; Collision; Energie cinétique; Main; Mécanisme articulé; Interaction contact
ED :	Tactile sensitivity; User interface; Virtual reality; Friction; Collision; Kinetic energy; Hand; Linkage mechanism; Contact interaction
SD :	Sensibilidad tactil; Interfase usuario; Realidad virtual; Frotamiento; Colisión; Energía cinética; Mano; Mecanismo articulado; Interacción contacto
LO :	INIST-21023A.354000138217320040
ID :	05-0344164

Links to Exploration step

Pascal:05-0344164

Le document en format XML

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<front><div type="abstract" xml:lang="en">A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach.</div>
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<server><NO>PASCAL 05-0344164 INIST</NO>
<ET>Haptic rendering of rigid contacts using impulsive and penalty forces</ET>
<AU>CONSTANTINESCU (Daniela); SALCUDEAN (Septimiu E.); CROFT (Elizabeth A.)</AU>
<AF>Robotics and Control Laboratory and the Department of Electrical and Computer Engineering, University of British Columbia/Vancouver, BC V6T 1Z4/Canada (1 aut., 2 aut.); Industrial Automation Laboratory and the Department of Mechanical Engineering, University of British Columbia/Vancouver, BC V6T 1Z4/Canada (3 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>IEEE transactions on robotics; Etats-Unis; Da. 2005; Vol. 21; No. 3; Pp. 309-323; Bibl. 35 ref.</SO>
<LA>Anglais</LA>
<EA>A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach.</EA>
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Haptic rendering of rigid contacts using impulsive and penalty forces

Haptic rendering of rigid contacts using impulsive and penalty forces

Source :

Descripteurs français

English descriptors

Abstract

Notice en format standard (ISO 2709)

Format Inist (serveur)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri