Translation and rotation of multi-point contacted virtual objects

Simulation of multi-finger grasps and contact in a haptic device presents a number of problems over the use of single finger interactions. These problems include how to model friction and how to resolve the contribution of forces from multiple finger contact points as well as dealing with more general object physics. Friction is a vital aspect of modelling in multi-point haptic interactions. A friction model is needed to allow a grasp using two or more fingers without the fingers slipping from the virtual object. Friction is also needed when lifting an object from a surface to stabilise the object in the grasp before it is lifted away. Once clear of the surface it is appropriate to provide a simulation of the mass and inertia of the object to allow the object to be moved, rotated and placed upon another surface. This paper presents methods for modelling haptic contact friction in situations where an object is being both translated and rotated based upon the use of god-objects [1] and friction cones [6] as well as residual force/torque methods for the subsequent translation and rotation of the grasped object.

[1]  William Harwin,et al.  Improved rendering for multi-finger manipulation using friction cone based god-objects , 2003 .

[2]  Ming C. Lin,et al.  A framework for fast and accurate collision detection for haptic interaction , 1998, Proceedings IEEE Virtual Reality (Cat. No. 99CB36316).

[3]  R. Paul Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[4]  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.

[5]  Dinesh Manocha,et al.  OBBTree: a hierarchical structure for rapid interference detection , 1996, SIGGRAPH.

[6]  Mark R. Cutkosky,et al.  Friction modeling and display in haptic applications involving user performance , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[7]  Carlos Canudas-de-Wit,et al.  Friction compensation for an industrial hydraulic robot , 1999 .