A unified treatment of elastostatic contact simulation for real time haptics

James, Doug L.; Pai, Dinesh K.

doi:10.1145/1198555.1198614

Cited by 65 publications

(55 citation statements)

References 22 publications

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“…The physics-based simulation of interactions between hands and deformable objects can also be used in game applications and haptics research [James and Pai 2001;Magnenat-Thalmann et al 2007]. Our method couples two dynamic systems without adding significant computation time to the simulation.…”

Section: Related Workmentioning

confidence: 99%

Coupling cloth and rigid bodies for dexterous manipulation

Bai

Liu

2014

Proceedings of the Seventh International Conference on Motion in Games

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This paper introduces a new simulation technique to enable detailed dexterous manipulation of cloth. Without reimplementation or substantial modification, existing cloth simulators can only be used to approximate limited interaction between cloth and rigid bodies due to the incorrect computation of contact forces. For example, a simple scenario of two fingers pinching a piece of cloth often results in the cloth slipping out of the hand. Our technique provides a simple solution to cloth-rigid coupling using existing cloth and rigid body simulators as-is. We develop a light-weight interface so that the rigid body and cloth simulators communicate on a demand-driven manner to achieve two main goals: allow the rigid bodies to impart friction forces to the cloth and avoid unsolvable collision situations between the rigid bodies and the cloth. We demonstrate a set of basic manipulation skills including gripping, pinching, and pressing, that are frequently seen in daily activities such as dressing and folding clothes.

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Section: Related Workmentioning

confidence: 99%

Coupling cloth and rigid bodies for dexterous manipulation

Bai

Liu

2014

Proceedings of the Seventh International Conference on Motion in Games

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“…in [6], [7], displacement-driven interaction is considered, so the positions are applied as bilateral constraints (equality conditions) and solved by a method of Lagrange multipliers. In [8], a unified approach to the interaction with elastostatic contact simulation is presented. In this case, the contact resolution is based on capacitance matrix which relates the imposed displacements and response forces.…”

Section: Previous Workmentioning

confidence: 99%

Asynchronous haptic simulation of contacting deformable objects with variable stiffness

Peterlik

Duriez

Cotin

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents a new asynchronous approach for haptic rendering of deformable objects. When stiff nonlinear deformations take place, they introduce important and rapid variations of the force sent to the user. This problem is similar to the stiff virtual wall for which a high refresh rate is required to obtain a stable haptic feedback. However, when dealing with several interacting deformable objects, it is usually impossible to simulate all objects at high rates. To address this problem we propose a quasi-static framework that allows for stable interactions of asynchronously computed deformable objects. In the proposed approach, a deformable object can be computed at high refresh rates, while the remaining deformable virtual objects remain computed at low refresh rates. Moreover, contacts and other constraints between the different objects of the virtual environment are accurately solved using a shared Linear Complementarity Problem (LCP). Finally, we demonstrate our method on two test cases: a snap-in example involving non-linear deformations and a virtual thread interacting with a deformable object.

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“…From (10) and from the above, we have (13) Given that and that , (13) yields (14) can be replaced by in the above inequality (15) Integrating both sides of (15) gives (16) that is (17) Condition (17) is the passivity condition for the subsystem of Fig. 4 and for , hence, under the conditions stated, the subsystem of Fig.…”

Section: B Existence Of Passivitymentioning

confidence: 99%

“…Forexample, the hapticrendering of a deformable body using a finite-element method (FEM) or boundary-element method (BEM) requires the use of "numerical compression," because of the rapid growth of the computational requirements with problem size [4]. To overcome these problems, low-order local models and multirate simulations are often proposed [4], [6], [8], [14], [18]. However, the force response resulting from switching between local models does not generally guarantee passivity, continuity, and prescribed accuracy.…”

Section: Introductionmentioning

confidence: 99%

High-fidelity passive force-reflecting virtual environments

Mahvash

Hayward

2005

IEEE Trans. Robot.

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Abstract-Passivity theory is applied to the creation of synthetic, complex multidimensional haptic environments. It can be shown that under appropriate conditions, sufficiently high rendering rates can guarantee the passivity of a simulation produced by a haptic device coupled to a discrete-time realization of a nominally passive environment. The creation of a passive, globally defined, virtual environment is either analytically complex or computationally costly. A method is described whereby a passive environment is created from transitions between locally defined force models that encode static conservative force fields. This is applied to the haptic rendering of tool contact with deformable bodies, in which sparse force-deflection responses are used to define local models. Passivity, continuity, and fidelity are provided by response-function interpolation rather than by interpolation of forces, as in previous methods. The paper also includes an illustrative example.

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A unified treatment of elastostatic contact simulation for real time haptics

Cited by 65 publications

References 22 publications

Coupling cloth and rigid bodies for dexterous manipulation

Coupling cloth and rigid bodies for dexterous manipulation

Asynchronous haptic simulation of contacting deformable objects with variable stiffness

High-fidelity passive force-reflecting virtual environments

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