Six degree-of-freedom haptic rendering using spatialized normal cone search

David E. Johnson; Peter Willemsen; Elaine Cohen

doi:10.1109/TVCG.2005.106

Six degree-of-freedom haptic rendering using spatialized normal cone search

David E. Johnson, Peter Willemsen, Elaine Cohen

Computer Science (Duluth)

Research output: Contribution to journal › Article › peer-review

37 Scopus citations

Abstract

This paper describes a haptic rendering algorithm for arbitrary polygonal models using a six degree-of-freedom haptic interface. The algorithm supports activities such as virtual prototyping of complex polygonal models and adding haptic interaction to virtual environments. The underlying collision system computes local extrema in distance between the model controlled by the haptic device and the rest of the scene. The haptic rendering computes forces and torques on the moving model based on these local extrema. The system is demonstrated on models with tens of thousands of triangles and developed in an accessibility application for finding collision-free paths.

Original language	English (US)
Pages (from-to)	661-670
Number of pages	10
Journal	IEEE Transactions on Visualization and Computer Graphics
Volume	11
Issue number	6
DOIs	https://doi.org/10.1109/TVCG.2005.106
State	Published - Nov 2005

Bibliographical note

Funding Information:
The authors would like to acknowledge support in part from the following grants: US National Science Foundation (NSF) IIS-0428856, NSF CDA-96-23614, and US Army Research Office DAAD 19-01-1-0013. Also, the authors would like to thank the Gamma group at the University of North Carolina for making their code available.

Keywords

Computer-aided design
Haptic I/O
Virtual reality

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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Six degree-of-freedom haptic rendering using spatialized normal cone search

Abstract

Bibliographical note

Keywords

UN SDGs

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