On-Line Precomputation Algorithm for Real-Time Haptic Interaction with Non-Linear Deformable Bodies

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14310%2F09%3A00035348" target="_blank" >RIV/00216224:14310/09:00035348 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

On-Line Precomputation Algorithm for Real-Time Haptic Interaction with Non-Linear Deformable Bodies

Popis výsledku v původním jazyce

Soft tissue modelling is important in the realm of haptic interactions. The main challenge in this research area is to combine two basic conditions which are essential - the stability of the haptic interaction running on high refresh rate on one hand andrealistic behavior of the tissue assuming computationally expensive mathematical models on the other. In this paper, a distributed algorithm addressing this challenge is presented. The algorithm is based on the precomputation-interpolation scheme when the force feedback for the actual position of the haptic interaction point (HIP) is computed by a fast interpolation from precomputed data running inside the haptic loop. The standard precomputation-interpolation scheme is modified, however, so that the data needed for the interpolation are generated directly during the interaction. The distributed algorithm and the underlying architecture are presented together with a prototype implementation.

Název v anglickém jazyce

On-Line Precomputation Algorithm for Real-Time Haptic Interaction with Non-Linear Deformable Bodies

Popis výsledku anglicky

Soft tissue modelling is important in the realm of haptic interactions. The main challenge in this research area is to combine two basic conditions which are essential - the stability of the haptic interaction running on high refresh rate on one hand andrealistic behavior of the tissue assuming computationally expensive mathematical models on the other. In this paper, a distributed algorithm addressing this challenge is presented. The algorithm is based on the precomputation-interpolation scheme when the force feedback for the actual position of the haptic interaction point (HIP) is computed by a fast interpolation from precomputed data running inside the haptic loop. The standard precomputation-interpolation scheme is modified, however, so that the data needed for the interpolation are generated directly during the interaction. The distributed algorithm and the underlying architecture are presented together with a prototype implementation.

Druh

D - Stať ve sborníku

CEP obor

IN - Informatika

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2009

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems

ISBN

978-1-4244-3858-7

ISSN

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e-ISSN

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Počet stran výsledku

6

Strana od-do

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Název nakladatele

The Institute of Electrical and Electronics Engineers

Místo vydání

Salt Lake City, Utah, USA

Místo konání akce

Salt Lake City, Utah, USA

Datum konání akce

18. 3. 2009

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000266714300005