Stability of Haptic Rendering for Deformable Objects PDF Download
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Author: Mehrdad Hosseini-Zadeh
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Author: Mehrdad Hosseini-Zadeh
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Author: Guido Böttcher
Publisher: Springer Science & Business Media
ISBN: 0857299352
Category : Computers
Languages : en
Pages : 148
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Book Description
The focus from most Virtual Reality (VR) systems lies mainly on the visual immersion of the user. But the emphasis only on the visual perception is insufficient for some applications as the user is limited in his interactions within the VR. Therefore the textbook presents the principles and theoretical background to develop a VR system that is able to create a link between physical simulations and haptic rendering which requires update rates of 1\,kHz for the force feedback. Special attention is given to the modeling and computation of contact forces in a two-finger grasp of textiles. Addressing further the perception of small scale surface properties like roughness, novel algorithms are presented that are not only able to consider the highly dynamic behaviour of textiles but also capable of computing the small forces needed for the tactile rendering at the contact point. Final analysis of the entire VR system is being made showing the problems and the solutions found in the work
Author: Jian Zhang
Publisher:
ISBN:
Category : Human-computer interaction
Languages : en
Pages : 288
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Author: Dangxiao Wang
Publisher: Springer
ISBN: 3662449498
Category : Computers
Languages : en
Pages : 170
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This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in many VR-based simulation systems, the book will be of particular interest to researchers and professionals in the areas of surgical simulation, rehabilitation, virtual assembly, and inspection and maintenance.
Author: Ming C. Lin
Publisher: CRC Press
ISBN: 1439865140
Category : Computers
Languages : en
Pages : 623
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Book Description
For a long time, human beings have dreamed of a virtual world where it is possible to interact with synthetic entities as if they were real. It has been shown that the ability to touch virtual objects increases the sense of presence in virtual environments. This book provides an authoritative overview of state-of-theart haptic rendering algorithms
Author: Miguel A. Otaduy
Publisher: Morgan & Claypool Publishers
ISBN: 1598291149
Category : Dokunma
Languages : en
Pages : 113
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Book Description
The human haptic system, among all senses, provides unique and bidirectional communication between humans and their physical environment. Yet, to date, most human-computer interactive systems have focused primarily on the graphical rendering of visual information and, to a lesser extent, on the display of auditory information. Extending the frontier of visual computing, haptic interfaces, or force feedback devices, have the potential to increase the quality of human-computer interaction by accommodating the sense of touch. They provide an attractive augmentation to visual display and enhance the level of understanding of complex data sets. They have been effectively used for a number of applications including molecular docking, manipulation of nano-materials, surgical training, virtual prototyping, and digital sculpting. Compared with visual and auditory display, haptic rendering has extremely demanding computational requirements. In order to maintain a stable system while displaying smooth and realistic forces and torques, high haptic update rates in the range of 5001000 Hz or more are typically used. Haptics present many new challenges to researchers and developers in computer graphics and interactive techniques. Some of the critical issues include the development of novel data structures to encode shape and material properties, as well as new techniques for geometry processing, data analysis, physical modeling, and haptic visualization. This synthesis examines some of the latest developments on haptic rendering, while looking forward to exciting future research in this area. It presents novel haptic rendering algorithms that take advantage of the human haptic sensory modality. Specifically it discusses different rendering techniques for various geometric representations (e.g. point-based, polygonal, multiresolution, distance fields, etc), as well as textured surfaces.
Author: Yuan Tian
Publisher:
ISBN:
Category : Haptic devices
Languages : en
Pages :
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Book Description
Since haptic rendering brings more real, more immersive and engaging experience into the 3D immersive environment, it greatly catches people's attention in broad fields such as medical therapy, gaming industry, robotics, etc. Haptic rendering in 3D immersive environment has become one of the trending research topics in recent years. Though there are many researches that well investigated this topic, there are still new challenges when introducing haptic feedback into the applications like Virtual / Mixed Reality and Tele-immersion. In 3D immersive environment, haptic rendering not only requires efficiency, stability, transparency, but also needs synchronization, disparity handling, delay compensation in networked applications. This dissertation aims to overcome the emerging challenges in the haptic-enabled 3D immersive environments. Specifically, three main research tasks are identified in the dissertation: bidirectional haptic rendering in 3D Tele-immersion, haptic rendering of 3D streaming deformable surface, and haptic-enabled 3D deformation. To solve the research problems, a set of novel approaches are presented in this dissertation. A Haptic-enabled Tele-Immersive Musculoskeletal Examination (H-TIME) system is developed that enables bi-directional force feedback and motion, facilitating remote evaluation of the patients associated with joints and muscles. A real-time haptic method is proposed to interact with 3D deformable streaming surface which is under 3D reconstruction. A real-time haptic rendering method is proposed to enable the interaction with 3D deformable objects using (multiple) haptic devices, which is able to provide with natural and smooth haptic rendering and fast stable 3D deformation. Based on the proposed methods, applications are developed to solve the real-world problems in medicine, training, and robotics.
Author: René Weller
Publisher: Springer Science & Business Media
ISBN: 3319010204
Category : Computers
Languages : en
Pages : 248
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Book Description
Starting with novel algorithms for optimally updating bounding volume hierarchies of objects undergoing arbitrary deformations, the author presents a new data structure that allows, for the first time, the computation of the penetration volume. The penetration volume is related to the water displacement of the overlapping region, and thus corresponds to a physically motivated and continuous force. The practicability of the approaches used is shown by realizing new applications in the field of robotics and haptics, including a user study that evaluates the influence of the degrees of freedom in complex haptic interactions. New Geometric Data Structures for Collision Detection and Haptics closes by proposing an open source benchmarking suite that evaluates both the performance and the quality of the collision response in order to guarantee a fair comparison of different collision detection algorithms. Required in the fields of computer graphics, physically-based simulations, computer animations, robotics and haptics, collision detection is a fundamental problem that arises every time we interact with virtual objects. Some of the open challenges associated with collision detection include the handling of deformable objects, the stable computation of physically-plausible contact information, and the extremely high frequencies that are required for haptic rendering. New Geometric Data Structures for Collision Detection and Haptics presents new solutions to all of these challenges, and will prove to be a valuable resource for researchers and practitioners of collision detection in the haptics, robotics and computer graphics and animation domains.
Author: Dominik Henrich
Publisher: Springer Science & Business Media
ISBN: 1447107497
Category : Technology & Engineering
Languages : en
Pages : 268
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Book Description
This book is about automatic handling of non-rigid or deformable objects like cables, fabric, or foam rubber. The automation by robots in industrial environments, is especially examined. It discusses several important automation aspects, such as material modelling and simulation, planning and control strategies, collaborative systems, and industrial applications. This book collects contributions from various countries and international projects and, therefore, provides a representative overview of the state of the art in this field. It is of particular interest for scientists and practitioners in the area of robotics and automation
Author: Lili Lian
Publisher: Open Dissertation Press
ISBN: 9781374661974
Category :
Languages : en
Pages :
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Book Description
This dissertation, "Haptic Rendering of Three-dimensional Heterogeneous Features" by Lili, Lian, 廉莉莉, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author. Abstract: Abstract of thesis entitled HAPTIC RENDERING OF THREE-DIMENSIONAL HETEROGENEOUS FEATURES Submitted by Lian Lili for the degree of Doctor of Philosophy at The University of Hong Kong in February 2007 Haptic interaction provides the operator a full immersion in the virtual environment by offering an additional communication modality - the force feedback between the user and the computer. In recent years, haptic related research has attracted intensive interest, but most previous work has been restricted to modeling and haptic rendering of virtual models with homogeneous features. This study focuses on the haptic rendering algorithms of three-dimensional heterogeneous features and their applications to product design. In this study, heterogeneous features are characterized as both material and geometric variations, and haptic rendering of heterogeneous features is implemented in three disciplines. The first discipline focuses on the haptic rendering of heterogeneous rough surface and frictional surface of rigid objects. The haptic rendering of roughness and friction is implemented based on the generation of fine surface features. Three-dimensional geometric variations of fine surface features are created by a procedural method followed by a feature mapping approach. Improvement of the lateral-force algorithm and the Karnopp-based algorithm is developed to haptically render heterogeneous surface roughness and friction. The second discipline focuses on the haptic rendering of deflection or small deformation of an object consisted of heterogeneous materials. Haptic rendering of flexible objects is attributed in between haptic rendering of rigid objects and that of deformable objects. Therefore, a pseudo-rigid-body model is developed to model the flexible object and calculate the feedback forces. Pseudo-rigid-body models consisting of different materials are assembled in a certain way to simulate a heterogeneous object. The proposed approach is also applied to a haptic aided product design case study. In the third discipline, the haptic rendering of deformable objects composed of heterogeneous materials is investigated. A multi-layer mass-spring system is used to represent the deformable object. The relationship between the physical properties of the materials being simulated and the physical parameters of the model is investigated. A surface-based force-mapping method is developed to haptically display the proposed mass-spring system. This method simplifies a volume-based model into a surface-based model and maintains the material information of the inner volume of the model simultaneously. As a result, the haptic rendering of heterogeneous material objects can be realized. Furthermore, system computation acceleration is implemented by a proposed multi-resolution and multi-rate method. DOI: 10.5353/th_b3875820 Subjects: User interfaces (Computer systems) Touch Virtual reality Algorithms
