Journal ArticleDOI
Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects
TLDR
An efficient haptic rendering method for displaying the feel of 3-D polyhedral objects in virtual environments (VEs) using a hierarchical database, multithreading techniques, and efficient search procedures to reduce the computational time.Abstract:
Computer haptics, an emerging field of research that is analogous to computer graphics, is concerned with the generation and rendering of haptic virtual objects. In this paper, we propose an efficient haptic rendering method for displaying the feel of 3-D polyhedral objects in virtual environments (VEs). Using this method and a haptic interface device, the users can manually explore and feel the shape and surface details of virtual objects. The main component of our rendering method is the “neighborhood watch” algorithm that takes advantage of precomputed connectivity information for detecting collisions between the end effector of a force-reflecting robot and polyhedral objects in VEs. We use a hierarchical database, multithreading techniques, and efficient search procedures to reduce the computational time such that the haptic servo rate after the first contact is essentially independent of the number of polygons that represent the object. We also propose efficient methods for displaying surface properties of objects such as haptic texture and friction. Our haptic-texturing techniques and friction model can add surface details onto convex or concave 3-D polygonal surfaces. These haptic-rendering techniques can be extended to display dynamics of rigid and deformable objects.read more
Citations
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Journal ArticleDOI
An experimental study on the role of touch in shared virtual environments
TL;DR: The outcomes of this research can have a powerful impact on the development of next-generation human-computer interfaces and network protocols that integrate touch and force feedback technology into the internet, development of protocols and techniques for collaborative teleoperation such as hazardous material removal, space station.
Journal ArticleDOI
Virtual environments for medical training: graphical and haptic simulation of laparoscopic common bile duct exploration
TL;DR: A computer-based training system to simulate laparoscopic procedures in virtual environments for medical training and can be trained to grasp and insert a flexible and freely moving catheter into the deformable cystic duct invirtual environments.
Journal ArticleDOI
Transatlantic touch: a study of haptic collaboration over long distance
Jung Kim,Hyun Kim,Boon K. Tay,Manivannan Muniyandi,Mandayam A. Srinivasan,Joel Jordan,J. Mortensen,Manuel Oliveira,Mel Slater +8 more
TL;DR: Using the technology described in this paper, transatlantic touch was successfully demonstrated between the Touch Lab at Massachusetts Institute of Technology, USA and Virtual Environments and Computer Graphics (VECG) lab at University College London (UCL), UK in 2002.
Journal ArticleDOI
A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties
TL;DR: This paper describes a generalization of the god-object method for haptic interaction between rigid bodies using a novel constraint-based quasi-static approach, which allows us to suppress force artifacts typically found in previous methods.
References
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Book
The Fractal Geometry of Nature
TL;DR: This book is a blend of erudition, popularization, and exposition, and the illustrations include many superb examples of computer graphics that are works of art in their own right.
Book
Computer Graphics: Principles and Practice
TL;DR: This chapter discusses the development of Hardware and Software for Computer Graphics, and the design methodology of User-Computer Dialogues, which led to the creation of the Simple Raster Graphics Package.
Proceedings ArticleDOI
OBBTree: a hierarchical structure for rapid interference detection
TL;DR: A data structure and an algorithm for efficient and exact interference detection amongst complex models undergoing rigid motion that can robustly and accurately detect all the contacts between large complex geometries composed of hundreds of thousands of polygons at interactive rates are presented.
Book ChapterDOI
Computer graphics—principles and practice
TL;DR: These are the short notes for a two hour tutorial on principles and practice of computer graphics and scientific visualization and they cannot completely replace the contents of the tutorial transparencies and slides since restrictions in space and print quality do not permit the inclusion of figures and example images.