Haptic Feedback Using an Efficient Superquadric Based Collision Detection Method (original) (raw)
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Computational Geometry, 2000
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 tight-fitting oriented bounding box trees (OBBTrees). At run time, we use hybrid hierarchical representations and exploit frame-to-frame 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 42-72 operations including transformation costs. The algorithms have been implemented as part of H-COLLIDE 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 1000 Hz on a 400 MHz Pentium II. In practice, our prototype implementation can accurately and efficiently detect contacts between a virtual probe guided by a force-feedback arm and large complex geometries composed of tens of thousands of polygons, with substained KHz rates.
SQ-Map: Efficient Layered Collision Detection and Haptic Rendering
IEEE Transactions on Visualization and Computer Graphics, 2000
This paper presents a novel layered and fast framework for real-time collision detection and haptic interaction in virtual environments based on superquadric virtual object modeling. An efficient algorithm is initially proposed for decomposing the complex objects into subobjects suitable for superquadric modeling, based on visual salience and curvature constraints. The distance between the superquadrics and the mesh is then projected onto the superquadric surface, thus generating a distance map (SQ-Map). Approximate collision detection is then performed by computing the analytical equations and distance maps instead of triangle per triangle intersection tests. Collision response is then calculated directly from the superquadric models and realistic smooth force feedback is obtained using analytical formulae and local smoothing on the distance map. Experimental evaluation demonstrates that SQ-Map reduces significantly the computational cost when compared to accurate collision detection methods and does not require the huge amounts of memory demanded by distance field-based methods. Finally, force feedback is calculated directly from the distance map and the superquadric formulae.
A geometry education haptic VR application based on a new virtual hand representation
IEEE Proceedings. VR 2005. Virtual Reality, 2005., 2005
The present paper describes an enhanced haptic virtual reality application for geometry education. The proposed application allows the user to create and edit a scene that consists of three-dimensional geometrical objects in order to form and solve complex geometrical problems. The core of the proposed scheme is based on a novel interference detection algorithm, which utilizes implicit surfaces, such as superquadrics, and their analytical description to speed up collision detection between the virtual hand and the virtual environment. Intersection tests are executed utilizing the implicit analytical formulae of the superquadrics. Experimental results demonstrate the high applicability of the proposed application and the huge gain in speed of the proposed collision detection approach when compared to state of the art methods.
Haptic rendering: Practical modeling and collision detection
ASME DYN SYST CONTROL DIV PUBL …, 1999
3D collision detection and modeling techniques can be used in the development of haptic rendering schemes which can be used, for example, in surgical training, virtual assembly, or games. Based on a fast collision detection algorithm (RAPID) and 3D object representation, a practical haptic rendering system has been developed. A subsystem determines detailed collision information. Simulation results are presented to demonstrate the practicality of our results.
Haptic Rendering of Rigid Body Collisions
2004
This paper addresses the haptic rendering of rigid body collisions. A new method is proposed in which collision rendering is achieved in two steps. First, the haptic simulation uses a contact model whose stiffness is infinite during collisions and finite during sustained contact. This model is combined with a passive collision resolution scheme to compute collision impulses when new contacts arise. Second, the impulses are applied to the user's hand by a controller that coordinates forces and positions between the virtual environment and the haptic interface. Haptic rendering of rigid body collisions imparts forces that generate large hand accelerations when new contacts arise without requiring increased contact stiffness and damping. Experiments with a planar rigid virtual world validate the proposed approach.
Analysing collision detection in a virtual environment for haptic applications in surgery
Háptica es un área que estudia e investiga la interacción de la modalidad sensorial del tacto con un mundo virtual. Las interfaces hápticas son dispositivos bidireccionales que proporcionan sensaciones de fuerzas o tacto al operador a través de la misma interfaz con la que envía consignas al sistema remoto; son básicamente posicionadores de avanzadas prestaciones que permiten simular sensaciones táctiles gracias a la realimentación de fuerzas (Gómez, 2005).
Enhancing Haptic Rendering through Predictive Collision Detection
Lecture Notes in Computer Science, 2009
This paper presents an efficient collision detection method for interactive haptic simulations of virtual environments that consist of both static and moving objects. The proposed method is based on a novel algorithm for predicting the time of proximity between a pair objects and the appropriate employment of the calculated prediction in a complex virtual scene with multiple objects. The user is able to interact with the virtual objects and receive real-time haptic feedback using the PHANToM Desktop haptic device, while the visual results are shown in the screen display. Experimental results demonstrate the efficiency and the reliability of the presented approach compared to state-ofthe-art spatial subdivisions methods, especially for haptic rendering, where collision detection and response is a procedure of critical importance.
Multibody Dynamics Model of a Human Hand for Haptics Interaction
2008
In this paper we propose a strategy for modelling a human hand for Haptics interaction.The strategy consists in a parallel computing architecture that calculates the dynamics of a hand, this is accomplished by computing the dynamics of each finger in a parallel manner. In this approach multiple threads (e.g. haptics thread, graphics thread, collision detection thread, etc.) run concurrently and therefore we developed a synchronization mechanism for data exchange. We describe in detail the elements of the developed software.
The present paper describes the integration of a multi-finger haptic device with deformable objects in an interactive environment. Repulsive forces are synthesized and rendered independently for each finger of a user wearing a Cybergrasp force-feedback glove. Deformation and contact models are based on mass-spring systems, and the issue of the user independence is dealt with through a geometric calibration phase. Motivated by the knowledge that human hand plays a very important role in the somatosensory system, we focused on the potential of the Cybergrasp device to improve perception in Virtual Reality worlds. We especially explored whether it is possible to distinguish objects with different elasticities. Results of performance and perception tests are encouraging despite current technical and computational limitations.
2010 23rd SIBGRAPI Conference on Graphics, Patterns and Images, 2010
. A spherical hash approach is used to handle collisions between complex deformable models in constant time to the number of vertices. The first image shows a tetrahedral mesh encapsulated into its spherical bounding. The other images present frames of real-time animations involving one, two, three and four colliding deformable objects. Since our case study is on surgical simulation, we are using a reconstructed and decimated real liver to exemplify.