A hybrid constraint-penalty proxy method for six degree-of-freedom haptic display of deforming objects
File(s)
Accepted version
Author(s)
Bowyer, Stuart A
Rodriguez y Baena, Ferdinando
Type
Conference Paper
Abstract
There are many applications and tasks in which the precise, high-fidelity haptic display of deforming objects is required. A crucial element in haptic rendering is the definition of a proxy pose that follows the motion of the user, while respecting the geometry of the object being displayed. Conventional methods for computing the dynamics of a proxy interacting with a deforming object suffer from several issues relating to numerical instabilities when the proxy becomes over-constrained and high computational demands. This paper presents a novel hybrid proxy that combines modified versions of constraint-based and penalty-based proxies together to give high fidelity rendering with reduced computational requirements and enhanced robustness to situations where the proxy becomes enclosed. Experimental analysis of the proposed method shows that it can efficiently compute proxy dynamics that faithfully render the required object. This research forms a basis for further development of novel hybrid dynamic proxies for haptics and allows for increasingly complex deforming geometries to be rendered.
Editor(s)
Spencer, SN
Date Issued
2016-11-01
Date Acceptance
2016-11-01
Citation
VRST '16: Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology, 2016, pp.173-182
ISBN
9781450344913
Publisher
ACM
Start Page
173
End Page
182
Journal / Book Title
VRST '16: Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology
Volume
02-04-November-2016
Copyright Statement
© 2016 ACM. This is the author's version of the work. It is posted here for your personal use. Not for redistribution. The definitive Version of Record was published in {Source Publication}, http://dx.doi.org/10.1145/10.1145/2993369
Identifier
https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000391514400024&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=a2bf6146997ec60c407a63945d4e92bb
Source
22nd ACM Conference on Virtual Reality Software and Technology (VRST)
Subjects
ALGORITHM
Computer Science
Computer Science, Hardware & Architecture
Computer Science, Interdisciplinary Applications
Computer Science, Software Engineering
deforming objects
DYNAMIC ACTIVE CONSTRAINTS
Engineering
Ergonomics
gauss' principle of least constraint
god-object
Haptics
MANIPULATION
proxy
ROBOT
Science & Technology
Technology
Publication Status
Published
Start Date
2016-11-02
Finish Date
2016-11-04
Coverage Spatial
Munich, Germany
Date Publish Online
2016-11-02