HapticV1, PascalFrancis, Corpus, bibRecord, 001065

An implicit-based haptic rendering technique

Identifieur interne : 001065 ( PascalFrancis/Corpus ); précédent : 001064; suivant : 001066

An implicit-based haptic rendering technique

Auteurs : Laehyun Kim ; Anna Kyrikou ; Gaurav S. Sukhatme ; Mathieu Desbrun

Source :

RBID : Pascal:04-0194354

Descripteurs français

Pascal (Inist)
- Texture, Sensibilité tactile, Surface contact, Propriété surface, Frottement, Extrémité, Discontinuité.

English descriptors

KwdEn :
- Contact surface, Discontinuity, End, Friction, Surface properties, Tactile sensitivity, Texture.

Abstract

We present a novel haptic rendering technique. Building on previous work, we propose a haptic model based on a volumetric description of the geometry of an object. Unlike previous volumetric approaches, we also find a virtual contact point on the surface in order to derive a penalty force that is consistent with the real geometry of the object, without introducing force discontinuity. We also demonstrate that other surface properties such as friction and texture can be added elegantly. The resulting technique is fast (a constant 1000 Hz refresh rate) and can handle large geometry models on low-end computers.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 An implicit-based haptic rendering technique`
A09	`01`	`1`	`ENG`	`@1 2002 IEEE/RSJ international conference on intelligent robots and systems : Lausanne, 30 September - 4 October 2002`
A11	`01`	`1`		`@1 KIM (Laehyun)`
A11	`02`	`1`		`@1 KYRIKOU (Anna)`
A11	`03`	`1`		`@1 SUKHATME (Gaurav S.)`
A11	`04`	`1`		`@1 DESBRUN (Mathieu)`
A14	`01`			`@1 University of Southern California @3 USA @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut.`
A18	`01`	`1`		`@1 IEEE Robotics and Automation Society @3 USA @9 patr.`
A18	`02`	`1`		`@1 IEEE Industrial Elelctronics Society @3 USA @9 patr.`
A18	`03`	`1`		`@1 Robotics Society of Japan @3 JPN @9 patr.`
A18	`04`	`1`		`@1 Society of Instruments and Control Engineers @3 INC @9 patr.`
A18	`05`	`1`		`@1 INRIA Rhône-Alpes @2 Grenoble @3 FRA @9 patr.`
A18	`06`	`1`		`@1 EPFL @2 Lausanne @3 CHE @9 patr.`
A20				`@1 2943-2948`
A21				`@1 2002`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-7398-7`
A30	`01`	`1`	`ENG`	`@1 IROS 2002 : international conference on intelligent robots and systems @3 Lausanne CHE @4 2002-09-30`
A43	`01`			`@1 INIST @2 Y 37951 @5 354000117764174790`
A44				`@0 0000 @1 © 2004 INIST-CNRS. All rights reserved.`
A45				`@0 23 ref.`
A47	`01`	`1`		`@0 04-0194354`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 We present a novel haptic rendering technique. Building on previous work, we propose a haptic model based on a volumetric description of the geometry of an object. Unlike previous volumetric approaches, we also find a virtual contact point on the surface in order to derive a penalty force that is consistent with the real geometry of the object, without introducing force discontinuity. We also demonstrate that other surface properties such as friction and texture can be added elegantly. The resulting technique is fast (a constant 1000 Hz refresh rate) and can handle large geometry models on low-end computers.
C02	`01`	`X`		`@0 001D02C03`
C02	`02`	`X`		`@0 001D02D11`
C03	`01`	`X`	`FRE`	`@0 Texture @5 02`
C03	`01`	`X`	`ENG`	`@0 Texture @5 02`
C03	`01`	`X`	`SPA`	`@0 Textura @5 02`
C03	`02`	`X`	`FRE`	`@0 Sensibilité tactile @5 11`
C03	`02`	`X`	`ENG`	`@0 Tactile sensitivity @5 11`
C03	`02`	`X`	`SPA`	`@0 Sensibilidad tactil @5 11`
C03	`03`	`X`	`FRE`	`@0 Surface contact @5 12`
C03	`03`	`X`	`ENG`	`@0 Contact surface @5 12`
C03	`03`	`X`	`SPA`	`@0 Superficie contacto @5 12`
C03	`04`	`X`	`FRE`	`@0 Propriété surface @5 13`
C03	`04`	`X`	`ENG`	`@0 Surface properties @5 13`
C03	`04`	`X`	`SPA`	`@0 Propiedad superficie @5 13`
C03	`05`	`X`	`FRE`	`@0 Frottement @5 14`
C03	`05`	`X`	`ENG`	`@0 Friction @5 14`
C03	`05`	`X`	`SPA`	`@0 Frotamiento @5 14`
C03	`06`	`X`	`FRE`	`@0 Extrémité @5 15`
C03	`06`	`X`	`ENG`	`@0 End @5 15`
C03	`06`	`X`	`SPA`	`@0 Extremidad @5 15`
C03	`07`	`X`	`FRE`	`@0 Discontinuité @5 16`
C03	`07`	`X`	`ENG`	`@0 Discontinuity @5 16`
C03	`07`	`X`	`SPA`	`@0 Discontinuidad @5 16`
N21				`@1 131`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 04-0194354 INIST
ET :	An implicit-based haptic rendering technique
AU :	KIM (Laehyun); KYRIKOU (Anna); SUKHATME (Gaurav S.); DESBRUN (Mathieu)
AF :	University of Southern California/Etats-Unis (1 aut., 2 aut., 3 aut., 4 aut.)
DT :	Congrès; Niveau analytique
SO :	IROS 2002 : international conference on intelligent robots and systems/2002-09-30/Lausanne CHE; Etats-Unis; Piscataway NJ: IEEE; Da. 2002; Pp. 2943-2948; ISBN 0-7803-7398-7
LA :	Anglais
EA :	We present a novel haptic rendering technique. Building on previous work, we propose a haptic model based on a volumetric description of the geometry of an object. Unlike previous volumetric approaches, we also find a virtual contact point on the surface in order to derive a penalty force that is consistent with the real geometry of the object, without introducing force discontinuity. We also demonstrate that other surface properties such as friction and texture can be added elegantly. The resulting technique is fast (a constant 1000 Hz refresh rate) and can handle large geometry models on low-end computers.
CC :	001D02C03; 001D02D11
FD :	Texture; Sensibilité tactile; Surface contact; Propriété surface; Frottement; Extrémité; Discontinuité
ED :	Texture; Tactile sensitivity; Contact surface; Surface properties; Friction; End; Discontinuity
SD :	Textura; Sensibilidad tactil; Superficie contacto; Propiedad superficie; Frotamiento; Extremidad; Discontinuidad
LO :	INIST-Y 37951.354000117764174790
ID :	04-0194354

Links to Exploration step

Pascal:04-0194354

Le document en format XML

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<keywords scheme="Pascal" xml:lang="fr"><term>Texture</term>
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<front><div type="abstract" xml:lang="en">We present a novel haptic rendering technique. Building on previous work, we propose a haptic model based on a volumetric description of the geometry of an object. Unlike previous volumetric approaches, we also find a virtual contact point on the surface in order to derive a penalty force that is consistent with the real geometry of the object, without introducing force discontinuity. We also demonstrate that other surface properties such as friction and texture can be added elegantly. The resulting technique is fast (a constant 1000 Hz refresh rate) and can handle large geometry models on low-end computers.</div>
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<server><NO>PASCAL 04-0194354 INIST</NO>
<ET>An implicit-based haptic rendering technique</ET>
<AU>KIM (Laehyun); KYRIKOU (Anna); SUKHATME (Gaurav S.); DESBRUN (Mathieu)</AU>
<AF>University of Southern California/Etats-Unis (1 aut., 2 aut., 3 aut., 4 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IROS 2002 : international conference on intelligent robots and systems/2002-09-30/Lausanne CHE; Etats-Unis; Piscataway NJ: IEEE; Da. 2002; Pp. 2943-2948; ISBN 0-7803-7398-7</SO>
<LA>Anglais</LA>
<EA>We present a novel haptic rendering technique. Building on previous work, we propose a haptic model based on a volumetric description of the geometry of an object. Unlike previous volumetric approaches, we also find a virtual contact point on the surface in order to derive a penalty force that is consistent with the real geometry of the object, without introducing force discontinuity. We also demonstrate that other surface properties such as friction and texture can be added elegantly. The resulting technique is fast (a constant 1000 Hz refresh rate) and can handle large geometry models on low-end computers.</EA>
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	Serveur d'exploration sur les dispositifs haptiques
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An implicit-based haptic rendering technique

An implicit-based haptic rendering technique

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