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148
Haptic rendering: introductory concepts
 IEEE Computer Graphics and Applications
"... In the last decade we have seen an enormous increase in interest in the science of haptics. The quest for better understanding and use of haptic abilities (both human and nonhuman) has manifested itself in heightened activity in disciplines broadly ranging from robotics and telerobotics, to comput ..."
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Cited by 49 (0 self)
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In the last decade we have seen an enormous increase in interest in the science of haptics. The quest for better understanding and use of haptic abilities (both human and nonhuman) has manifested itself in heightened activity in disciplines broadly ranging from robotics and telerobotics, to computational geometry and computer graphics, to psychophysics, cognitive sci
Fast and Accurate Collision Detection for Haptic Interaction Using a Three DegreeofFreedom ForceFeedback Device
 In Proceedings of Virtual Reality Conference
"... We present a fast and accurate collision detection algorithm for haptic interaction with polygonal models. Given a model, we precompute a hybrid hierarchical representation, consisting of uniform grids (represented using a hash table) and trees of tightfitting oriented bounding box trees (OBBTrees ..."
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Cited by 44 (0 self)
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We present a fast and accurate collision detection algorithm for haptic interaction with polygonal models. Given a model, we precompute a hybrid hierarchical representation, consisting of uniform grids (represented using a hash table) and trees of tightfitting oriented bounding box trees (OBBTrees). At run time, we use hybrid hierarchical representations and exploit frametoframe coherence for fast proximity queries. We describe a new overlap test, which is specialized for intersection of a line segment with an oriented bounding box for haptic simulation and takes 4272 operations including transformation costs. The algorithms have been implemented as part of HCOLLIDE and interfaced with a PHANToM arm and its haptic toolkit, GHOST, and applied to a number of models. As compared to the commercial implementation, we are able to achieve up to 20 times speedup in our experiments and sustain update rates over 1000Hz on a 400MHz Pentium II. In practice, our prototype implementation can a...
Haptic interfaces and devices
, 2004
"... Haptic interfaces enable personmachine communication through touch, and most commonly, in response to user movements. We comment on a distinct property of haptic interfaces, that of providing for simultaneous information exchange between a user and a machine. We also comment on the fact that, like ..."
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Cited by 43 (6 self)
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Haptic interfaces enable personmachine communication through touch, and most commonly, in response to user movements. We comment on a distinct property of haptic interfaces, that of providing for simultaneous information exchange between a user and a machine. We also comment on the fact that, like other kinds of displays, they can take advantage of both the strengths and the limitations of human perception. The paper then proceeds with a description of the components and the modus operandi of haptic interfaces, followed by a list of current and prospective applications and a discussion of a crosssection of current device designs.
Virtual Environments for Medical Training: Graphical and Haptic Simulation of Common Bile Duct Exploration
 IEEE/ASME Transactions on Mechatronics
, 2001
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Sensation Preserving Simplification for Haptic Rendering
, 2003
"... We introduce a novel "sensation preserving" simplification algorithm for faster collision queries between two polyhedral objects in haptic rendering. Given a polyhedral model, we construct a multiresolution hierarchy using "filtered edge collapse", subject to constraints imposed ..."
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Cited by 41 (14 self)
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We introduce a novel "sensation preserving" simplification algorithm for faster collision queries between two polyhedral objects in haptic rendering. Given a polyhedral model, we construct a multiresolution hierarchy using "filtered edge collapse", subject to constraints imposed by collision detection. The resulting hierarchy is then used to compute fast contact response for haptic display. The computation model is inspired by human tactual perception of contact information. We have successfully applied and demonstrated the algorithm on a timecritical collision query framework for haptically displaying complex objectobject interaction. Compared to existing exact contact query algorithms, we observe noticeable performance improvement in update rates with little degradation in the haptic perception of contacts.
Interactive Animation of Clothlike Objects in Virtual Reality
, 2000
"... Modeling and animation of cloth has experienced important developments in recent years. As a consequence, complex textile models can be used to realistically drape objects or human characters in a fairly efficient way. However, realtime realistic simulation remains a major challenge, even if applic ..."
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Cited by 38 (0 self)
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Modeling and animation of cloth has experienced important developments in recent years. As a consequence, complex textile models can be used to realistically drape objects or human characters in a fairly efficient way. However, realtime realistic simulation remains a major challenge, even if applications are numerous, from rapid prototyping to ecommerce. In this paper, we present a stable, realtime algorithm for animating clothlike materials. Using a hybrid explicit/implicit algorithm, we perform fast and stable time integration of a physicallybased model with rapid collision detection and response, as well as wind or liquid drag effects to enhance realism. We demonstrate our approach through a series of examples in VR environments, proving that realtime animation of cloth, even on lowend computers, is now achievable.
Fast Penetration Depth Computation for Physicallybased Animation
 of ETRI, FUB and UH on core experiment N2 on automatic segmentation of moving objects”. Doc. ISO/IEC JTC1/SC29/WG11 MPEG97/m2383
, 2002
"... We present a novel and fast algorithm to compute penetration depth (PD) between two polyhedral models for physicallybased animation. Given two overlapping polyhedra, it computes the minimal translation distance to separate them using a combination of objectspace and imagespace techniques. The alg ..."
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Cited by 36 (11 self)
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We present a novel and fast algorithm to compute penetration depth (PD) between two polyhedral models for physicallybased animation. Given two overlapping polyhedra, it computes the minimal translation distance to separate them using a combination of objectspace and imagespace techniques. The algorithm computes pairwise Minkowski sums of decomposed convex pieces and performs a closest point query using rasterization hardware. It uses bounding volume hierarchies, objectspace and imagespace culling algorithms to further accelerate the computation and refines the estimated PD in a hierarchical manner. We demonstrate its application to contact response computation and a timestepping method for dynamic simulation.
Six DegreeofFreedom Haptic Display of Polygonal Models
 in Proc. IEEE Visualization
, 2000
"... : We present an algorithm for haptic display of moderately complex polygonal models with a six degree of freedom (DOF) force feedback device. We make use of incremental algorithms for contact determination between convex primitives. The resulting contact information is used for calculating the rest ..."
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Cited by 29 (0 self)
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: We present an algorithm for haptic display of moderately complex polygonal models with a six degree of freedom (DOF) force feedback device. We make use of incremental algorithms for contact determination between convex primitives. The resulting contact information is used for calculating the restoring forces and torques and thereby used to generate a sense of virtual touch. To speed up the computation, our approach exploits a combination of geometric locality, temporal coherence, and predictive methods to compute objectobject contacts at kHz rates. The algorithm has been implemented and interfaced with a 6DOF PHANToM Premium 1.5. We demonstrate its performance on force display of the mechanical interaction between moderately complex geometric structures that can be decomposed into convex primitives. CR Categories: I.3.6 [Computer Graphics]: Methodology and Techniques  Interaction Techniques Additional Keywords: haptics, virtual reality, forcefeedback devices, interactive comput...
DEEP: Dualspace Expansion for Estimating Penetration depth between convex polytopes
 In IEEE Conference on Robotics and Automation
, 2002
"... We present an incremental algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a "locally optimal solution" by walking on the surface of the Minkowski sums. The surface of the Minkowski sums is computed implicitly by constructing a l ..."
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Cited by 24 (8 self)
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We present an incremental algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a "locally optimal solution" by walking on the surface of the Minkowski sums. The surface of the Minkowski sums is computed implicitly by constructing a local Gauss map. In practice, the algorithm works well when there is high motion coherence in the environment and is able to compute the optimal solution in most cases.