Proceedings ArticleDOI
Haptic interaction in virtual environments
D. Ruspini,Krasimir D. Kolarov,Oussama Khatib +2 more
- Vol. 1, pp 128-133
TLDR
A haptic rendering framework that allows the tactile display of complex virtual environments and reduces the task of the haptic servo control loop to the minimization of the error between user's position and that of the proxy.Abstract:
We present a haptic rendering framework that allows the tactile display of complex virtual environments. This framework allows surface constraints, surface shading, friction, texture and other effects to be modeled solely by updating the position of a representative object, the "virtual proxy". This abstraction reduces the task of the haptic servo control loop to the minimization of the error between user's position and that of the proxy. This framework has been implemented in a system that is able to haptically render virtual environments of a complexity that is near and often in excess of the capabilities of current interactive graphic systems.read more
Citations
More filters
Journal ArticleDOI
Simulation in medical education
TL;DR: This article builds an argument for the use of simulation techniques to enhance patient safety and points the readers to the AMEE Guide No. 501 on simulation, which is written as a practical manual on building a simulation programme in healthcare education.
Proceedings ArticleDOI
Haptic interaction with global deformations
Yan Zhuang,John Canny +1 more
TL;DR: A haptic simulation system that allows a human operator to perform real-time interaction with soft 3D objects that go through large global deformations using geometrically nonlinear finite element methods (FEM).
Proceedings ArticleDOI
Realistic virtual grasping
Christoph W. Borst,A.P. Indugula +1 more
TL;DR: This work presents a physically-based approach to grasping and manipulation of virtual objects that produces visually realistic results, addresses the problem of visual interpenetration of hand and object models, and performs force rendering for force-feedback gloves in a single framework.
Real-time simulation of physically realistic global deformations
Yan Zhuang,John Canny +1 more
TL;DR: In this thesis, an alternative real-time solution without compromising the mass matrix in the FEM system is presented, instead of decoupling the system by diagonalizing the mass and damping matrix, which improves the sparsity of the system.
Proceedings ArticleDOI
A haptic interface for a virtual exam of the human thigh
TL;DR: This paper proposes a method for interfacing a force-feedback device of type PHANToM to a spring-damper model of the human thigh using a local model supplying reliable force values at a high frequency.
References
More filters
Book
Robot Motion Planning
TL;DR: This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
Book
Introduction to Robotics mechanics and Control
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Journal ArticleDOI
Illumination for computer generated pictures
TL;DR: Human visual perception and the fundamental laws of optics are considered in the development of a shading rule that provides better quality and increased realism in generated images.
Journal ArticleDOI
A unified approach for motion and force control of robot manipulators: The operational space formulation
TL;DR: A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed, and the unified approach for motion and force control is developed.