Haptic Rendering for Simulation of Fine Manipulation

This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in many VR-based simulation systems, the book will be of particular interest to researchers and professionals in the areas of surgical simulation,rehabilitation, virtual assembly,andinspection and maintenance.

[1]  Amitai Ziv,et al.  Preliminary assessment of faculty and student perception of a haptic virtual reality simulator for training dental manual dexterity. , 2011, Journal of dental education.

[2]  Ming C. Lin,et al.  A modular haptic rendering algorithm for stable and transparent 6-DOF manipulation , 2006, IEEE Transactions on Robotics.

[3]  Matthias Harders,et al.  Using Multidimensional Scaling to Quantify the Fidelity of Haptic Rendering of Deformable Objects , 2006 .

[4]  Joseph M. Romano,et al.  Haptography: Capturing and Recreating the Rich Feel of Real Surfaces , 2009, ISRR.

[5]  John Kenneth Salisbury,et al.  What you can't feel won't hurt you: Evaluating haptic hardware using a haptic contrast sensitivity function , 2011, IEEE Transactions on Haptics.

[6]  R. Dalman,et al.  The utility of endovascular simulation to improve technical performance and stimulate continued interest of preclinical medical students in vascular surgery. , 2009, Journal of surgical education.

[7]  Michael Ortega-Binderberger,et al.  A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties , 2007, IEEE Transactions on Visualization and Computer Graphics.

[8]  Miguel A. Otaduy,et al.  Haptic rendering of objects with rigid and deformable parts , 2010, Comput. Graph..

[9]  Gábor Székely,et al.  Data-Driven Haptic Rendering of Visco-Elastic Effects , 2008, 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[10]  E. I. Konukseven,et al.  Development of a visio-haptic integrated dental training simulation system. , 2010, Journal of dental education.

[11]  Steven Dow,et al.  The design and testing of a force feedback dental simulator , 2001, Comput. Methods Programs Biomed..

[12]  C. Preusche,et al.  A benchmarking suite for 6-DOF real time collision response algorithms , 2010, VRST '10.

[13]  Dangxiao Wang,et al.  iDental: A Haptic-Based Dental Simulator and Its Preliminary User Evaluation. , 2012, IEEE transactions on haptics.

[14]  Ming C. Lin,et al.  Haptic Rendering : Foundations, Algorithms, and Applications , 2008 .

[15]  Ge Yu,et al.  Six degree-of-freedom haptic simulation of sharp geometric features using a hybrid sphere-tree model , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  M. Teschner,et al.  Meshless deformations based on shape matching , 2005, SIGGRAPH 2005.

[17]  Tony DeRose,et al.  Piecewise smooth surface reconstruction , 1994, SIGGRAPH.

[18]  Yong Wang,et al.  Haptic rendering for dental training system , 2009, Science in China Series F: Information Sciences.

[19]  C. Stanford,et al.  An initial evaluation of the Iowa Dental Surgical Simulator. , 2000, Journal of dental education.

[20]  Jernej Barbic,et al.  Six-DoF Haptic Rendering of Contact Between Geometrically Complex Reduced Deformable Models , 2008, IEEE Transactions on Haptics.

[21]  Dangxiao Wang,et al.  Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration. , 2011, IEEE transactions on haptics.

[22]  Ronald C Merrell,et al.  Training in laparoscopic suturing skills using a new computer-based virtual reality simulator (MIST-VR) provides results comparable to those with an established pelvic trainer system. , 2002, Journal of laparoendoscopic & advanced surgical techniques. Part A.

[23]  Andrew Nealen,et al.  Physically Based Deformable Models in Computer Graphics , 2005, Eurographics.

[24]  Mikel Sagardia,et al.  A Benchmark of Force Quality in Haptic Rendering , 2009 .

[25]  Qi Luo,et al.  Contact and Deformation Modeling for Interactive Environments , 2007, IEEE Transactions on Robotics.

[26]  Christian Duriez,et al.  GPU-based real-time soft tissue deformation with cutting and haptic feedback. , 2010, Progress in biophysics and molecular biology.

[27]  John F. Canny,et al.  Haptic interaction with global deformations , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[28]  Stephane Cotin,et al.  Contact Model for Haptic Medical Simulations , 2008, ISBMS.

[29]  Oussama Khatib,et al.  Interactive rendering of deformable objects based on a filling sphere modeling approach , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[30]  Vicki R LeBlanc,et al.  A preliminary study in using virtual reality to train dental students. , 2004, Journal of dental education.

[31]  Matthias Harders,et al.  Element-wise mixed implicit-explicit integration for stable dynamic simulation of deformable objects , 2011, SCA '11.

[32]  Christian Duriez,et al.  Realistic haptic rendering of interacting deformable objects in virtual environments , 2008, IEEE Transactions on Visualization and Computer Graphics.

[33]  Frank Tendick,et al.  Adaptive Nonlinear Finite Elements for Deformable Body Simulation Using Dynamic Progressive Meshes , 2001, Comput. Graph. Forum.

[34]  W. Hendricson,et al.  North American dental students' perspectives about their clinical education. , 2006, Journal of dental education.

[35]  E. Davison,et al.  A Fast MPC Algorithm Using Nonfeasible Active Set Methods , 2008 .

[36]  David Hussey,et al.  A pilot study comparing the effectiveness of conventional training and virtual reality simulation in the skills acquisition of junior dental students. , 2003, European journal of dental education : official journal of the Association for Dental Education in Europe.

[37]  Rajesh Aggarwal,et al.  From scalpel to simulator: a surgical journey. , 2009, Surgery.

[38]  Evren Samur.  Systematic evaluation methodology and performance metrics for haptic interfaces , 2011, WHC 2011.

[39]  Dangxiao Wang,et al.  Spring-based measurement equipment for evaluation of 3-DOF haptic rendering algorithms , 2011, 2011 IEEE International Workshop on Haptic Audio Visual Environments and Games.

[40]  M. Brand,et al.  A Parallel Quadratic Programming Algorithm for Model Predictive Control , 2011 .

[41]  Nigel W. John,et al.  The Role of Haptics in Medical Training Simulators: A Survey of the State of the Art , 2011, IEEE Transactions on Haptics.

[42]  Elaine Cohen,et al.  Six degree-of-freedom haptic rendering using spatialized normal cone search , 2005, IEEE Transactions on Visualization and Computer Graphics.

[43]  Alice Urbankova,et al.  An evaluation of two dental simulation systems: virtual reality versus contemporary non-computer-assisted. , 2004, Journal of dental education.

[44]  Xin Zhang,et al.  Configuration-Based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation , 2011, IEEE Transactions on Haptics.

[45]  Bijan Shirinzadeh,et al.  A New Methodology for Deformable Object Simulation , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[46]  Jonas Forsslund,et al.  A user-centered designed FOSS implementation of bone surgery simulations , 2009, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[47]  Yuru Zhang,et al.  Haptic Simulation of Organ Deformation and Hybrid Contacts in Dental Operations , 2014, IEEE Transactions on Haptics.

[48]  Stefan Wesarg,et al.  VR-Based Simulators for Training in Minimally Invasive Surgery , 2007, IEEE Computer Graphics and Applications.

[49]  Mariano Alcañiz Raya,et al.  Real-time deformable models for surgery simulation: a survey , 2005, Comput. Methods Programs Biomed..

[50]  Dan Morris,et al.  Standardized Evaluation of Haptic Rendering Systems , 2006, 2006 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[51]  Stephane Cotin,et al.  Craniofacial surgery simulation testbed , 1994, Other Conferences.

[52]  Stephane Cotin,et al.  Constraint-Based Haptic Rendering of Multirate Compliant Mechanisms , 2011, IEEE Transactions on Haptics.

[53]  Torsten Kuhlen,et al.  Haptic Palpation for Medical Simulation in Virtual Environments , 2012, IEEE Transactions on Visualization and Computer Graphics.

[54]  M. Bro-Nielsen,et al.  Finite element modeling in surgery simulation , 1998, Proc. IEEE.

[55]  Manfred Morari,et al.  Real-time input-constrained MPC using fast gradient methods , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[56]  Xin Zhang,et al.  Six-degree-of-freedom haptic simulation of organ deformation in dental operations , 2012, 2012 IEEE International Conference on Robotics and Automation.

[57]  James J. Troy,et al.  Advances in voxel-based 6-DOF haptic rendering , 2005, SIGGRAPH Courses.

[58]  John J. Craig Zhu,et al.  Introduction to robotics mechanics and control , 1991 .

[59]  Grupo Modelado,et al.  An Interruptible Algorithm for Collision Detection between Deformable Objects , 2005 .

[60]  J. Edward Colgate,et al.  Issues in the haptic display of tool use , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[61]  Miguel A. Otaduy,et al.  Interactive simulation of a deformable hand for haptic rendering , 2011, 2011 IEEE World Haptics Conference.

[62]  Sara McMains,et al.  Development and evaluation of a haptic rendering system for virtual design environments , 2006 .

[63]  Jonathan Padilla San Diego,et al.  Design and Development of a Haptic Dental Training System - hapTEL , 2010, EuroHaptics.

[64]  Shahram Payandeh,et al.  Towards Point-Based Haptic Interactions With Deformable Objects , 2010 .

[65]  Robert W. Lindeman,et al.  On Determining the Haptic Smoothness of Force-Shaded Surfaces , 2000 .

[66]  Judith A Buchanan,et al.  Experience with virtual reality-based technology in teaching restorative dental procedures. , 2004, Journal of dental education.

[67]  Yohan Payan,et al.  A Biomechanical Model of the Human Tongue and Its Clinical Implications , 1998, MICCAI.

[68]  Andrew Crossan,et al.  The Design and Evaluation of a Haptic Veterinary Palpation Training Simulator , 2003 .

[69]  M. Žefran,et al.  Assessment of faculty perception of content validity of PerioSim, a haptic-3D virtual reality dental training simulator. , 2007, Journal of dental education.

[70]  G. Gescheider.  Psychophysics: The Fundamentals , 1997 .

[71]  Yonghua Chen,et al.  Haptic Rendering of Three-dimensional Heterogeneous Fine Surface Features , 2008 .

[72]  Thomas A. DeFanti,et al.  Haptics-based virtual reality periodontal training simulator , 2009, Virtual Reality.

[73]  Alexandre Boulch,et al.  Fast and Robust Normal Estimation for Point Clouds with Sharp Features , 2012, Comput. Graph. Forum.