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World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Six-DoF haptic rendering of contact between geometrically complex reduced deformable models: Haptic demo
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
Jernej Barbic, Massachusetts Institute of Technology, USA
Doug L. James, Cornell University, USA
In this demonstration, we show haptic results from our research on distributed contact between deformable objects with complex geometry [1, 2, 3]. The demos run at 1000 Hz, and support 6-DoF haptic rendering. Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. We demonstrate a spatially and temporally adaptive approach to approximate distributed contact forces under hard real-time constraints. Our method is CPU based, and supports contact between rigid or reduced deformable models with complex geometry. We propose a contact model that uses a point-based representation for one object, and a signed-distance field for the other. This model is related to the Voxmap Pointshell Method (VPS), but gives continuous contact forces and torques, enabling stable rendering of stiff penalty-based distributed contacts.
Citation:
Jernej Barbic, Doug L. James, "Six-DoF haptic rendering of contact between geometrically complex reduced deformable models: Haptic demo," whc, pp.393-394, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
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