Real-time Rigid Body Simulation for Haptic Interactions Based on Contact Volume of Polygonal Objects

Hasegawa, Shoichi; Fujii, Nobutada; Akahane, Katsuhito; Koike, Yasuharu; Sato, Makoto

doi:10.9746/sicetr1965.40.122

Cited by 30 publications

(28 citation statements)

References 18 publications

(9 reference statements)

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“…One approach, proposed by [HS04], constructs the intersection volume of convex polyhedra explicitly. For this reason, it is applicable only to very simple geometries at interactive rates.…”

Section: A Bvh Based Methodsmentioning

confidence: 99%

Inner sphere trees for proximity and penetration queries

Weller¹,

Zachmann²

2009

Robotics: Science and Systems V

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Abstract-We present a novel geometric data structure for approximate collision detection at haptic rates between rigid objects. Our data structure, which we call inner sphere trees, supports different kinds of queries, namely, proximity queries and a new method for interpenetration computation, the penetration volume, which is related to the water displacement of the overlapping region and, thus, corresponds to a physically motivated force.The main idea is to bound objects from the inside with a set of non-overlapping spheres. Based on such sphere packings, a "inner bounding volume hierarchy" can be constructed. In order to do so, we propose to use an AI clustering algorithm, which we extend and adapt here.The results show performance at haptic rates both for proximity and penetration volume queries for models consisting of hundreds of thousands of polygons.

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“…One approach, proposed by [HS04], constructs the intersection volume of convex polyhedra explicitly. For this reason, it is applicable only to very simple geometries at interactive rates.…”

Section: A Bvh Based Methodsmentioning

confidence: 99%

Inner sphere trees for proximity and penetration queries

Weller¹,

Zachmann²

2009

Robotics: Science and Systems V

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“…Correct force feedback is an important factor for realistic haptic rendering, yet has not been fully studied due to the complicated nature and oversimplified mapping between haptic device and its virtual avatar. Previous works have done extensive research on haptic interaction with rigid bodies [7,8,9]. However, for applications such as surgical simulation, the typical environment often involves soft bodies.…”

Section: Related Workmentioning

confidence: 99%

Force Aware Haptic Rendering for Intubation Simulation

Meng¹,

2018

IJET

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We introduce a new haptic rendering method for neonatal endotracheal intubation simulation. The challenging procedure involves multiple models of different material properties, and is performed in the narrow oral cavity involving multiple contacts with tongue, lips, and laryngoscope. Our method first sets up simple collision detection mechanism with adaptive inner sphere tree structure for deformable tongue tissue. Then a collision response is handled with a novel force aware projective position correction. Our method is proved to be effective for heterogeneous simulation environment, therefore can be applied to surgical simulation with similar difficult settings.

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“…Selecting an inappropriate point such as the most penetrating one for each contact area might lead to non-continuous changes in the haptic feedback (Hasegawa & Sato, 2004). To avoid this effect, the proposed solution is to choose a representative contact point for each contact area.…”

Section: Contact Mobile Trianglesmentioning

confidence: 99%