High Fidelity Haptic Rendering - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook High Fidelity Haptic Rendering write by Miguel A. Otaduy. This book was released on 2006. High Fidelity Haptic Rendering available in PDF, EPUB and Kindle. The human haptic system, among all senses, provides unique and bidirectional communication between humans and their physical environment. Yet, to date, most human-computer interactive systems have focused primarily on the graphical rendering of visual information and, to a lesser extent, on the display of auditory information. Extending the frontier of visual computing, haptic interfaces, or force feedback devices, have the potential to increase the quality of human-computer interaction by accommodating the sense of touch. They provide an attractive augmentation to visual display and enhance the level of understanding of complex data sets. They have been effectively used for a number of applications including molecular docking, manipulation of nano-materials, surgical training, virtual prototyping, and digital sculpting. Compared with visual and auditory display, haptic rendering has extremely demanding computational requirements. In order to maintain a stable system while displaying smooth and realistic forces and torques, high haptic update rates in the range of 5001000 Hz or more are typically used. Haptics present many new challenges to researchers and developers in computer graphics and interactive techniques. Some of the critical issues include the development of novel data structures to encode shape and material properties, as well as new techniques for geometry processing, data analysis, physical modeling, and haptic visualization. This synthesis examines some of the latest developments on haptic rendering, while looking forward to exciting future research in this area. It presents novel haptic rendering algorithms that take advantage of the human haptic sensory modality. Specifically it discusses different rendering techniques for various geometric representations (e.g. point-based, polygonal, multiresolution, distance fields, etc), as well as textured surfaces.
High Fidelity Haptic Rendering
High Fidelity Haptic Rendering - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook High Fidelity Haptic Rendering write by Miguel Otaduy. This book was released on 2022-05-31. High Fidelity Haptic Rendering available in PDF, EPUB and Kindle. The human haptic system, among all senses, provides unique and bidirectional communication between humans and their physical environment. Yet, to date, most human-computer interactive systems have focused primarily on the graphical rendering of visual information and, to a lesser extent, on the display of auditory information. Extending the frontier of visual computing, haptic interfaces, or force feedback devices, have the potential to increase the quality of human-computer interaction by accommodating the sense of touch. They provide an attractive augmentation to visual display and enhance the level of understanding of complex data sets. They have been effectively used for a number of applications including molecular docking, manipulation of nano-materials, surgical training, virtual prototyping, and digital sculpting. Compared with visual and auditory display, haptic rendering has extremely demanding computational requirements. In order to maintain a stable system while displaying smooth and realistic forces and torques, high haptic update rates in the range of 500-1000 Hz or more are typically used. Haptics present many new challenges to researchers and developers in computer graphics and interactive techniques. Some of the critical issues include the development of novel data structures to encode shape and material properties, as well as new techniques for geometry processing, data analysis, physical modeling, and haptic visualization. This synthesis examines some of the latest developments on haptic rendering, while looking forward to exciting future research in this area. It presents novel haptic rendering algorithms that take advantage of the human haptic sensory modality. Specifically it discusses different rendering techniques for various geometric representations (e.g. point-based, polygonal, multiresolution, distance fields, etc), as well as textured surfaces. It also shows how psychophysics of touch can provide the foundational design guidelines for developing perceptually driven force models and concludes with possible applications and issues to consider in future algorithmic design, validating rendering techniques, and evaluating haptic interfaces.
High Fidelity Haptic Rendering : Computer Graphics And Animation
High Fidelity Haptic Rendering : Computer Graphics And Animation - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook High Fidelity Haptic Rendering : Computer Graphics And Animation write by Miguel A. Otaduy. This book was released on 2006. High Fidelity Haptic Rendering : Computer Graphics And Animation available in PDF, EPUB and Kindle.
Haptic Rendering for Simulation of Fine Manipulation
Haptic Rendering for Simulation of Fine Manipulation - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Haptic Rendering for Simulation of Fine Manipulation write by Dangxiao Wang. This book was released on 2014-10-17. Haptic Rendering for Simulation of Fine Manipulation available in PDF, EPUB and Kindle. This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in many VR-based simulation systems, the book will be of particular interest to researchers and professionals in the areas of surgical simulation, rehabilitation, virtual assembly, and inspection and maintenance.
Fundamental Challenges in Haptics
Fundamental Challenges in Haptics - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Fundamental Challenges in Haptics write by Arash Mohtat. This book was released on 2015. Fundamental Challenges in Haptics available in PDF, EPUB and Kindle. "Kinesthetic haptic applications deliver graphics, sound and force feedback to enable the human operator to interact with objects within a virtual world. The force feedback sensation, in particular, is created by a haptic device that displays the forces arising from this interaction. These forces must accurately emulate a real contact interaction, an objective which is commonly referred to as high-fidelity force feedback rendering. Achieving this objective can be quite challenging, for at least two main reasons. The first stems from the very special stability requirements due to the sampled-data nature of a haptic system and the presence of the human in the loop, while the second can be attributed to the difficult nature of modeling contact interaction in mechanics.In this thesis, a special attention has been given to the non-idealities associated with the sampled-data implementation reflected at the energy level, i.e. energy leaks, and their influence on the stability and passivity of the haptic system. It is proposed to avoid the generation of energy leaks, as much as possible, via modified force feedback laws. This novel notion is entitled as energy-consistent rendering, and the smooth-correction leak-dissipation (SCLD) strategy is developed to achieve it. The range of applicability of this method is studied via a renderability analysis framework under different uncertainty assumptions regarding the human influence on the stability of the overall system. Stability charts are constructed in the nondimensionalized stiffness plane for a canonical virtual spring-mass-damper system. This can be considered a generalization of the concepts of Z-width and M-width in relation to virtual walls and virtual masses.For accurate modeling of the interaction, on the other hand, different custom combination of contact representations geared toward haptic rendering are also studied, under different paradigms for connecting the physical domain to the virtual domain. A unified handling of colliding contact and sustained contact via a hybrid penalty-and-impulse-based formulation is developed that leads to a natural transition between contact formulations. This framework is a first step toward looking at contact methods from a unified control-oriented perspective, and is entitled as the generalized contact controller. A haptic billiard game is developed to serve as a detailed case study to show how contact modeling methods can be generalized to the multiple degree-of-freedom case and customized for specific haptic rendering purposes." --
