Smooth force rendering on coarse polygonal meshes

Piecewise linear polygonal model has only G0 continuity, thus users can easily feel the edges when using haptic device to touch a solid represented by coarse polygonal meshes. To produce an appealing haptic sensation for smooth solids, a large number of polygons are needed in conventional approaches. This, however, slows down computation and consumes much more memory. In this paper, we present a method to generate smooth feedback force in haptic interaction with coarse polygonal meshes. Our method calculates the interaction force based on Gregory patches, which are locally constructed from n‐sided polygons and ensure G1 continuity across boundaries of patches. During the real time haptic interaction, the contact point is continuously tracked on the locally constructed Gregory patches and thus generates smooth haptic forces to be rendered. Our method is validated on various models with comparison to conventional force rendering techniques. Copyright © 2010 John Wiley & Sons, Ltd.

[1]  Charles T. Loop,et al.  Approximating subdivision surfaces with Gregory patches for hardware tessellation , 2009, ACM Trans. Graph..

[2]  Sara McMains,et al.  Haptic rendering using C1 continuous reconstructed distance fields , 2009, 2009 IEEE International Conference on Shape Modeling and Applications.

[3]  Anderson Maciel,et al.  A New Line-based Algorithm for Real Time Haptic Interactions with Virtual Environments , 2008, 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[4]  Jae Kyu Lee,et al.  Haptic Rendering of Point Set Surfaces , 2007, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07).

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

[6]  Sara McMains,et al.  Haptic Force Shading Parameter Effects on Path Tracing Accuracy , 2006, 2006 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

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

[8]  Yuan-Shin Lee,et al.  Cutting on triangle mesh: local model-based haptic display for dental preparation surgery simulation , 2005, IEEE Transactions on Visualization and Computer Graphics.

[9]  Sara McMains,et al.  Evaluation of drawing on 3D surfaces with haptics , 2004, IEEE Computer Graphics and Applications.

[10]  Hong Qin,et al.  Touch-based haptics for interactive editing on point set surfaces , 2004, IEEE Computer Graphics and Applications.

[11]  Attila Bartha.  Authors’ Biographies , 2004, The Inka Empire.

[12]  YingLiang Ma,et al.  Point inversion and projection for NURBS curve and surface: Control polygon approach , 2003, Comput. Aided Geom. Des..

[13]  M. Puso,et al.  A 3D contact smoothing method using Gregory patches , 2002 .

[14]  Dinesh Manocha,et al.  Six degree-of-freedom haptic display of polygonal models , 2000, Proceedings Visualization 2000. VIS 2000 (Cat. No.00CH37145).

[15]  Cagatay Basdogan,et al.  Ray-Based Haptic Rendering: Force and Torque Interactions between a Line Probe and 3D Objects in Virtual Environments , 2000, Int. J. Robotics Res..

[16]  Cagatay Basdogan,et al.  Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects , 1999, Presence.

[17]  Oussama Khatib,et al.  The haptic display of complex graphical environments , 1997, SIGGRAPH.

[18]  Elaine Cohen,et al.  Direct haptic rendering of sculptured models , 1997, SI3D.

[19]  Mandayam A. Srinivasan,et al.  Force Shading for Haptic Shape Perception , 1996, Dynamic Systems and Control.

[20]  John Kenneth Salisbury,et al.  A constraint-based god-object method for haptic display , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

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

[22]  J. Salisbury,et al.  Haptic Rendering: Introductory Concepts , 2004 .

[23]  E. Larsen,et al.  Fast Proximity Queries with Swept Sphere Volumes , 1999 .