Feeling and seeing: issues in force display
01 Feb 1990-Vol. 24, Iss: 2, pp 235-241
TL;DR: The force display technology used in the Sandpaper system is a motor-driven two-degree of freedo m joystick, which computes the appropriate forces for the joystick's motors in real-time.
About: This article is published in Interactive 3D Graphics and Games.The article was published on 1990-02-01. It has received 546 citations till now. The article focuses on the topics: Feeling.
Citations
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Proceedings Article•
01 Jan 1994
TL;DR: The design rationale, novel kinematics and mechanics of the PHANToM, a device which measures a user’s finger tip position and exerts a precisely controlled force vector on the finger tip, are discussed.
Abstract: 1. Abstract This paper describes the PHANToM haptic interface - a device which measures a user’s finger tip position and exerts a precisely controlled force vector on the finger tip. The device has enabled users to interact with and feel a wide variety of virtual objects and will be used for control of remote manipulators. This paper discusses the design rationale, novel kinematics and mechanics of the PHANToM. A brief description of the programming of basic shape elements and contact interactions is also given.
1,572 citations
08 May 1994
TL;DR: This paper addresses the performance of force-reflecting interfaces and suggests that an important measure of performance is the dynamic range of achievable impedances-"Z-Width"-and that an impedance is achievable if it satisfies a robustness property such as passivity.
Abstract: This paper addresses the performance of force-reflecting interfaces ("haptic displays"). The authors suggest that an important measure of performance is the dynamic range of achievable impedances-"Z-Width"-and that an impedance is achievable if it satisfies a robustness property such as passivity. Several factors affecting Z-Width-sample-and-hold, inherent interface dynamics, displacement sensor quantization, and velocity filtering-are discussed. A set of experiments designed to evaluate these factors is described and experimental results are presented. A striking result is that inherent interface damping exerts an overwhelming influence on Z-Width. >
709 citations
19 Oct 1999
TL;DR: By decoupling the haptic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from issues of mechanical stability.
Abstract: This paper addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual world, to include both the impedance and admittance models of haptic interaction. A benchmark example exposes an important duality between these two cases. Linear circuit theory is used to develop necessary and sufficient conditions for the stability of a haptic simulation, assuming the human operator and virtual environment are passive. These equations lead to an explicit design procedure for virtual coupling networks which give maximum performance while guaranteeing stability. By decoupling the haptic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from issues of mechanical stability.
703 citations
01 Sep 1990
TL;DR: Haptic display as an augmentation to visual display can improve perception and understanding both of force fields and of world models populated with impenetrable objects and the present tool promises to yield new chemistry research results.
Abstract: We began in 1967 a project to develop a haptic+display for 6-D force fields of interacting protein molecules. We approached it in four stages: a 2-D system, a 3-D system tested with a simple task, a 6-D system tested with a simple task, and a full 6-D molecular docking system, our initial goal. This paper summarizes the entire project---the four systems, the evaluation experiments, the results, and our observations. The molecular docking system results are new.Our principal conclusions are:• Haptic display as an augmentation to visual display can improve perception and understanding both of force fields and of world models populated with impenetrable objects.• Whereas man-machine systems can outperform computer-only systems by orders of magnitude on some problems, haptic-augmented interactive systems seem to give about a two-fold performance improvement over purely graphical interactive systems. Better technology may give somewhat more, but a ten-fold improvement does not seem to be in the cards.• Chemists using GROPE-III can readily reproduce the true docking positions for drugs whose docking is known (but not to them) and can find very good docks for drugs whose true docks are unknown. The present tool promises to yield new chemistry research results; it is being actively used by research chemists.• The most valuable result from using GROPE-III for drug docking is probably the radically improved situation awareness that serious users report. Chemists say they have a new understanding of the details of the receptor site and its force fields, and of why a particular drug docks well or poorly.• We see various scientific/education applications for haptic displays but believe entertainment, not scientific visualization, will drive and pace the technology.• The hardware-software system technology we have used is barely adequate, and our experience sets priorities for future development.• Some unexpected perceptual phenomena were observed. All of these worked for us, not against us.
656 citations
Cites background from "Feeling and seeing: issues in force..."
...Margaret Minsky of the MIT Media Lab is developing and evaluating high-performance haptic displays for simulating textures, as her Ph.D. dissertation project [16]....
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TL;DR: The major advances in a new discipline, Computer Haptics (analogous to computer graphics), that is concerned with the techniques and processes associated with generating and displaying haptic stimuli to the human user are described.
576 citations
References
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TL;DR: The3-D fractal model provides a characterization of 3-D surfaces and their images for which the appropriateness of the model is verifiable and this characterization is stable over transformations of scale and linear transforms of intensity.
Abstract: This paper addresses the problems of 1) representing natural shapes such as mountains, trees, and clouds, and 2) computing their description from image data. To solve these problems, we must be able to relate natural surfaces to their images; this requires a good model of natural surface shapes. Fractal functions are a good choice for modeling 3-D natural surfaces because 1) many physical processes produce a fractal surface shape, 2) fractals are widely used as a graphics tool for generating natural-looking shapes, and 3) a survey of natural imagery has shown that the 3-D fractal surface model, transformed by the image formation process, furnishes an accurate description of both textured and shaded image regions. The 3-D fractal model provides a characterization of 3-D surfaces and their images for which the appropriateness of the model is verifiable. Furthermore, this characterization is stable over transformations of scale and linear transforms of intensity. The 3-D fractal model has been successfully applied to the problems of 1) texture segmentation and classification, 2) estimation of 3-D shape information, and 3) distinguishing between perceptually ``smooth'' and perceptually ``textured'' surfaces in the scene.
1,919 citations
"Feeling and seeing: issues in force..." refers background in this paper
...[Pentland84] Pentland, Alex, "Fractal-Based Descriptio n of Natural Scenes," IEEE Trans ....
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TL;DR: The concept of "solid texture" to the field of CGI is introduced and used to create very convincing representations of clouds, fire, water, stars, marble, wood, rock, soap films and crystal.
Abstract: We introduce the concept of a Pixel Stream Editor. This forms the basis for an interactive synthesizer for designing highly realistic Computer Generated Imagery. The designer works in an interactive Very High Level programming environment which provides a very fast concept/implement/view iteration cycle.Naturalistic visual complexity is built up by composition of non-linear functions, as opposed to the more conventional texture mapping or growth model algorithms. Powerful primitives are included for creating controlled stochastic effects. We introduce the concept of "solid texture" to the field of CGI.We have used this system to create very convincing representations of clouds, fire, water, stars, marble, wood, rock, soap films and crystal. The algorithms created with this paradigm are generally extremely fast, highly realistic, and asynchronously parallelizable at the pixel level.
1,812 citations
Additional excerpts
...[Perlin85] Perlin, K ., "An Image Synthesizer," Computer Graphics, Vol ....
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TL;DR: Two experiments establish links between desired knowledge about objects and hand movements during haptic object exploration, and establish that in free exploration, a procedure is generally used to acquire information about an object property, not because it is merely sufficient, butBecause it is optimal or even necessary.
1,723 citations
01 Aug 1989
TL;DR: It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performance and applies to several teleoperator architectures.
Abstract: The application of a hybrid two-port model to teleoperators with force and velocity sensing at the master and slave is presented. The interfaces between human operator and master, and between environment and slave, are ports through which the teleoperator is designed to exchange energy between the operator and the environment. By computing or measuring the input-output properties of this two-port network, the hybrid two-port model of an actual or simulated teleoperator system can be obtained. It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performance and applies to several teleoperator architectures. Thus measured values of the h matrix or values computed from a simulation can be used to compare performance with the ideal. The frequency-dependent h matrix is computed from a detailed SPICE model of an actual system, and the method is applied to a proposed architecture. >
966 citations
Proceedings Article•
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01 Jan 1965
TL;DR: The authors live in a physical world whose properties they have come to know well through long familiarity but lack corresponding familiarity with the forces on charged particles, forces in non-uniform fields, the effects of nonprojective geometric transformations, and high-inertia, low friction motion.
Abstract: We live in a physical world whose properties we have come to know well through long familiarity. We sense an involvement with this physical world which gives us the ability to predict its properties well. For example, we can predict where objects will fall, how well-known shapes look from other angles, and how much force is required to push objects against friction. We lack corresponding familiarity with the forces on charged particles, forces in non-uniform fields, the effects of nonprojective geometric transformations, and high-inertia, low friction motion. A display connected to a digital computer gives us a chance to gain familiarity with concepts not realizable in the physical world. It is a looking glass into a mathematical wonderland. Computer displays today cover a variety of capabilities. Some have only the fundamental ability to plot dots. Displays being sold now generally have built in line-drawing capability. An ability to draw simple curves would be useful. Some available displays are able to plot very short line segments in arbitrary directions, to form characters or more complex curves. Each of these abilities has a history and a known utility.
955 citations