Six degree-of-freedom haptic rendering using voxel sampling

McNeely, William A.; Puterbaugh, Kevin D.; Troy, James J.

doi:10.1145/1198555.1198605

Cited by 238 publications

(242 citation statements)

References 20 publications

Supporting

Mentioning

238

Contrasting

Order By: Relevance

“…Several algorithms that use polygonal data for collision detection were designed by researchers at the University of North Carolina and include I-collide [23], SWIFT [24], RAPID [25], V-collide [26], SWIFT++ [27], and CULLIDE [28].Other methods such as V-Clip [29] and VPS [30] have also been proposed to use in immersive VR applications. A comprehensive review of collision detection algorithms can be found in [31,32] and a taxonomy of collision detection approaches can be found in [33].…”

Section: Collision Detectionmentioning

confidence: 99%

“…A three layer model (skeletal layer, muscle layer and skin layer) was adapted to simulate deformation in the virtual hand using simple kinematics models. Hand to part collision detection and force computations were performed using fast but less accurate VPS software [30] while part to part collision detection was implemented using the RAPID [79] within certain proximity to predict possible assembly constraints. Geometric constraint approach was utilized to achieve real time system performance in a realistic kinematic simulation.…”

Section: Systems Using Geometric Constraintsmentioning

confidence: 99%

“…Most previous efforts used a simplified and approximated polygon mesh representations of CAD models for faster collision and physics calculations. Some of these efforts generated even coarser representations by using cubic voxel elements for physics and collision calculations [30,125,126]. Assembly configurations like a tight peg in a hole caused several hundreds of collisions to occur which often resulted in numerical instabilities in the system [92].…”

Section: Collision Snappingmentioning

confidence: 99%

See 2 more Smart Citations

Virtual reality for assembly methods prototyping: a review

2010

View full text Add to dashboard Cite

Assembly planning and evaluation is an important component of the product design process in which details about how parts of a new product will be put together are formalized. A well designed assembly process should take into account various factors such as optimum assembly time and sequence, tooling and fixture requirements, ergonomics, operator safety, and accessibility, among others. Existing computer-based tools to support virtual assembly either concentrate solely on representation of the geometry of parts and fixtures and evaluation of clearances and tolerances or use simulated human mannequins to approximate human interaction in the assembly process. Virtual reality technology has the potential to support integration of natural human motions into the computer aided assembly planning environment (Ritchie et al. in Proc I MECH E Part B J Eng 213(5): [461][462][463][464][465][466][467][468][469][470][471][472][473][474] 1999). This would allow evaluations of an assembler's ability to manipulate and assemble parts and result in reduced time and cost for product design. This paper provides a review of the research in virtual assembly and categorizes the different approaches. Finally, critical requirements and directions for future research are presented. Disciplines Computer-Aided Engineering and Design | Graphics and Human Computer InterfacesComments This is a manuscript of an article from Virtual Reality 15 (2011) AbstractAssembly planning and evaluation is an important component of the product design process in which details about how parts of a new product will be put together are formalized. A well designed assembly process should take into account various factors such as optimum assembly time and sequence, tooling and fixture requirements, ergonomics, operator safety, and accessibility, among others.Existing computer-based tools to support virtual assembly either concentrate solely on representation of the geometry of parts and fixtures and evaluation of clearances and tolerances or use simulated human mannequins to approximate human interaction in the assembly process.Virtual reality (VR) technology has the potential to support integration of natural human motions into the computer aided assembly planning environment (CAAP) [1]. This would allow evaluations of an assembler's ability to manipulate and assemble parts and result in reduced time and cost for product design. This paper provides a review of the research in virtual assembly and categorizes the different approaches Finally, critical requirements and directions for future research are presented.

show abstract

Section: Collision Detectionmentioning

confidence: 99%

Section: Systems Using Geometric Constraintsmentioning

confidence: 99%

Section: Collision Snappingmentioning

confidence: 99%

See 1 more Smart Citation

Virtual reality for assembly methods prototyping: a review

2010

View full text Add to dashboard Cite

show abstract

“…While point-curve distance is important on its own, we are mostly motivated by its future extension to the surface case, that is, tracking the point-surface or surface-surface critical distances, and our ultimate goal is the continuous distance tracking between two trimmed NURBS models both under either rigid motion or more general deformation. Many techniques in both haptic rendering and motion planning discretely approximate the curves [9,20,13]. While [10,21] works directly on the NURBS models, a global minimal distance search still must be conducted periodically.…”

Section: Motivationmentioning

confidence: 99%

Tracking Point-Curve Critical Distances

Chen

Cohen

Riesenfeld

2006

Geometric Modeling and Processing - GMP 2006

View full text Add to dashboard Cite

Abstract. This paper presents a novel approach to continuously and robustly tracking critical (geometrically, perpendicular and/or extremal) distances from a moving plane point p ∈ R 2 to a static parametrized piecewise rational curve γ(s) (s ∈ R). The approach is a combination of local marching, and the detection and computation of global topological change, both based on the differential properties of a constructed implicit surface. Unlike many techniques, it does not use any global search strategy except at initialization.Implementing the mathematical idea from singularity community, we encode the critical distance surface as an implicit surface I in the augmented parameter space. A point ps = (p, s) is in the augmented parametric space R 3 = R 2 × R, where p varies over R 2 . In most situations, when p is perturbed, its corresponding critical distances can be evolved without structural change by marching along a sectional curve on I. However, occasionally, when the perturbation crosses the evolute of γ, there is a transition event at which a pair of p's current critical distances is annihilated, or a new pair is created and added to the set of p's critical distances. To safely eliminate any global search for critical distances, we develop robust and efficient algorithm to perform the detection and computation of transition events.Additional transition events caused by various curve discontinuities are also investigated. Our implementation assumes a B-spline representation for the curve and has interactive speed even on a lower end laptop computer.

show abstract

“…Two different assembly tasks are performed using various combinations of desktop haptic devices and a position tracked glove. (McNeely et al, 1999) for physics calculations, and VR JuggLua (Pavlik and Vance, 2011b) for easy scripting and content creation. SPARTA supports multiple input and output devices including position trackers, stereo glasses, stereo projection systems, gloves and haptic devices (Pavlik and Vance, 2011a).…”

Section: Introductionmentioning

confidence: 99%

An evaluation of asymmetric interfaces for bimanual virtual assembly with haptics

2016

View full text Add to dashboard Cite

Immersive computing technology provides a human-computer interface to support natural human interaction with digital data and models. One application for this technology is product assembly methods planning and validation. This paper presents the results of a user study which explores the effectiveness of various bimanual interaction device configurations for virtual assembly tasks. Participants completed two assembly tasks with two device configurations in five randomized bimanual treatment conditions (within-subjects). A Phantom Omni R with and without haptics enabled and a 5DT Data Glove were used. Participant performance, as measured by time to assemble, was the evaluation metric. The results revealed that there was no significant difference in performance between the five treatment conditions. However, half of the participants chose the 5DT Data Glove and the haptic-enabled Phantom Omni R as their preferred device configuration. In addition, qualitative comments support both the preference of haptics during the assembly process as well as comments confirming Guiard's kinematic chain model.

show abstract

Six degree-of-freedom haptic rendering using voxel sampling

Cited by 238 publications

References 20 publications

Virtual reality for assembly methods prototyping: a review

Virtual reality for assembly methods prototyping: a review

Tracking Point-Curve Critical Distances

An evaluation of asymmetric interfaces for bimanual virtual assembly with haptics

Contact Info

Product

Resources

About