A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties

This paper describes a generalization of the god-object method for haptic interaction between rigid bodies. Our approach separates the computation of the motion of the six degree-of-freedom god-object from the computation of the force applied to the user. The motion of the god-object is computed usi...

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Bibliographic Details
Published in:IEEE transactions on visualization and computer graphics 2007-05, Vol.13 (3), p.458-469
Main Authors: Ortega, Michael, Redon, Stephane, Coquillart, Sabine
Format: Article
Language:English
Subjects:
Benchmark testing
CAD
CADCAM
Computation
Computational modeling
Computer aided design
Computer aided manufacturing
Computer Science
constraint-based quasi-statics
Degrees of freedom
Design automation
Displays
god-object
Haptic interfaces
Haptics
Humans
Mathematical analysis
Modeling and Simulation
Motion detection
Perception
rigid bodies
Rigid-body dynamics
six degrees of freedom
Surface layer
Texture
Virtual environment
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Summary:This paper describes a generalization of the god-object method for haptic interaction between rigid bodies. Our approach separates the computation of the motion of the six degree-of-freedom god-object from the computation of the force applied to the user. The motion of the god-object is computed using continuous collision detection and constraint-based quasi-statics, which enables high-quality haptic interaction between contacting rigid bodies. The force applied to the user is computed using a novel constraint-based quasi-static approach, which allows us to suppress force artifacts typically found in previous methods. The constraint-based force applied to the user, which handles any number of simultaneous contact points, is computed within a few microseconds, while the update of the configuration of the rigid god-object is performed within a few milliseconds for rigid bodies containing up to tens of thousands of triangles. Our approach has been successfully tested on complex benchmarks. Our results show that the separation into asynchronous processes allows us to satisfy the different update rates required by the haptic and visual displays. Force shading and textures can be added and enlarge the range of haptic perception of a virtual environment. This paper is an extension of [1].
ISSN:1077-2626
1941-0506
DOI:10.1109/TVCG.2007.1028