A modular haptic rendering algorithm for stable and transparent 6-DOF manipulation

Abstract

Abstract-This paper presents a modular algorithm for sixdegree-of-freedom (6-DOF) haptic rendering. The algorithm is aimed to provide transparent manipulation of rigid models with a high polygon count. On the one hand, enabling a stable display is simplified by exploiting the concept of virtual coupling and employing passive implicit integration methods for the simulation of the virtual tool. On the other hand, transparency is enhanced by maximizing the update rate of the simulation of the virtual tool, and thereby the coupling impedance, and allowing for stable simulation with small mass values. The combination of a linearized contact model that frees the simulation from the computational bottleneck of collision detection, with penalty-based collision response well suited for fixed time-stepping, guarantees that the motion of the virtual tool is simulated at the same high rate as the synthesis of feedback force and torque. Moreover, sensation-preserving multiresolution collision detection ensures a fast update of the linearized contact model in complex contact scenarios, and a novel contact clustering technique alleviates possible instability problems induced by penalty-based collision response.

Stable Haptic Rendering For Physics Engines Using Inter-Process Communication and Remote Virtual Coupling

“…Later, Akahane et al [20] implemented a haptic display at 10k Hz update rate by interpolating and upconverting the forces generated by virtual coupling to achieve a stiff, high resolution haptic rendering system. Besides, Otaduy et al [21] developed a haptics-enabled system with a haptic thread of high update rate and the contact thread of low update rate. The haptic thread then calculated the coupling force and simulated the dynamics of the haptic pointer to realize a stable haptic display with a low-mass-value haptic pointer.…”

Effective Haptic Rendering Method for Complex Interactions

“…Otaduy and Lin (2003) have presented a sensation preserving simplification technique for 6-DOF haptic rendering of complex polygonal models by adaptively selecting contact resolutions. Later, they have also presented a modular algorithm for 6-DOF haptic rendering, that provides transparent manipulation of rigid models with a high polygon count (Otaduy & Lin, 2006). Unlike penalty methods, constraint-based methods do not use the interpenetration between rigid objects to calculate collision response.…”

Development of an Augmented Reality Force Feedback Virtual Surgery Training Platform

“…Research on virtual reality in conjunction with force feedback has flourished over the last few years as researchers have sought to enhance human-machine interactions. The focal points of recent international research and discussions have included virtual tactile feedback frameworks, force feedback simulation, improvement of high-frequency transient response caused by collisions, improvement of force feedback stability, and the use of modular tactile description algorithms to improve penetration response involving hard objects [10][11][12]. In the field of virtual surgery, surgical actions generally consist of the four categories of cutting, drilling, puncturing, and pulling.…”