Haptic rendering of complex deformations through handle-space force linearization

The force-update-rate requirements of transparent rendering of virtual environments are in conflict with the computational cost required for computing complex interactions between deforming objects. In this paper we introduce a novel method for satisfying high force update rates with deformable objects, yet retaining the visual quality of complex deformations and interactions. The objects that are haptically manipulated may have many degrees of freedom, but haptic interaction is often implemented in practice through low-dimensional force-feedback devices. We exploit the low-dimensional domain of the interaction for devising a novel linear approximation of interaction forces that can be efficiently evaluated at force-update rates. Moreover, our linearized force model is time-implicit, which implies that it accounts for contact constraints and the internal dynamics of deforming objects. In this paper we show examples of haptic interaction in complex situations such as large deformations, collision between deformable objects (with friction), or even self-collision.

[1]  Kuu-young Young,et al.  VR-Based Teleoperation for Robot Compliance Control , 2001, J. Intell. Robotic Syst..

[2]  Dinesh Manocha,et al.  Six-Degree-of-Freedom Haptic Rendering Using Incremental and Localized Computations , 2003, Presence: Teleoperators & Virtual Environments.

[3]  Eitan Grinspun,et al.  Robust treatment of simultaneous collisions , 2008, ACM Trans. Graph..

[4]  Elaine Cohen,et al.  6-DOF Haptic Rendering Using Spatialized Normal Cone Search , 2005 .

[5]  Frank Tendick,et al.  Multirate simulation for high fidelity haptic interaction with deformable objects in virtual environments , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[6]  Ming C. Lin,et al.  Sensation preserving simplification for haptic rendering , 2003, ACM Trans. Graph..

[7]  Brian Mirtich,et al.  A Survey of Deformable Modeling in Computer Graphics , 1997 .

[8]  Matthias Teschner,et al.  Non-iterative Computation of Contact Forces for Deformable Objects , 2007, J. WSCG.

[9]  Dinesh K. Pai,et al.  Staggered projections for frictional contact in multibody systems , 2008, SIGGRAPH 2008.

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

[11]  Katherine J. Kuchenbecker,et al.  Improving contact realism through event-based haptic feedback , 2006, IEEE Transactions on Visualization and Computer Graphics.

[12]  Jernej Barbic,et al.  Real-Time subspace integration for St. Venant-Kirchhoff deformable models , 2005, ACM Trans. Graph..

[13]  J. Edward Colgate,et al.  Factors affecting the Z-Width of a haptic display , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[14]  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.

[15]  Markus H. Gross,et al.  Transparent Rendering of Tool Contact with Compliant Environments , 2007, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07).

[16]  Hervé Delingette,et al.  Anisotropic elasticity and force extrapolation to improve realism of surgery simulation , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[17]  John Kenneth Salisbury,et al.  Dynamic local models for stable multi-contact haptic interaction with deformable objects , 2003, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings..

[18]  Richard W. Cottle,et al.  Linear Complementarity Problem. , 1992 .

[19]  Gabriel Zachmann,et al.  Collision Detection for Deformable Objects , 2004, Comput. Graph. Forum.

[20]  Oussama Khatib,et al.  A Haptic Teleoperation Approach Based on Contact Force Control , 2006, Int. J. Robotics Res..

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

[22]  Markus H. Gross,et al.  Implicit Contact Handling for Deformable Objects , 2009, Comput. Graph. Forum.

[23]  Elizabeth A. Croft,et al.  Local Model of Interaction for Haptic Manipulation of Rigid Virtual Worlds , 2005, Int. J. Robotics Res..

[24]  Joseph O'Rourke,et al.  Handbook of Discrete and Computational Geometry, Second Edition , 1997 .

[25]  Ahmed A. Shabana,et al.  Dynamics of Multibody Systems , 2020 .

[26]  Markus H. Gross,et al.  Interactive Virtual Materials , 2004, Graphics Interface.

[27]  Yoshitaka Adachi,et al.  Intermediate representation for stiff virtual objects , 1995, Proceedings Virtual Reality Annual International Symposium '95.

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

[29]  Dinesh Manocha,et al.  Collision and Proximity Queries , 2004, Handbook of Discrete and Computational Geometry, 2nd Ed..

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

[31]  Christian Duriez,et al.  Signorini's contact model for deformable objects in haptic simulations , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[32]  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.

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

[34]  Vincent Hayward,et al.  Multirate haptic simulation achieved by coupling finite element meshes through Norton equivalents , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

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