A Prediction Method Using Interpolation for Smooth Six-DOF Haptic Rendering in Multirate Simulation

Smooth haptic force feedback is an important task for multirate 6-DOF haptic rendering for both rigid and deformable objects. The update rate of the haptic force may be too low and changed during the simulation as the high computation time is required for complex physical simulation. Therefore, to implement a stable and smooth haptic rendering, we need a method to update the force in a higher regular rate during the physical simulation. We propose a prediction method using interpolation to calculate smooth haptic interaction force in a high update rate. The auto-regressive model is used to predict the force value based on the previous haptic force calculation. In addition, we introduce a spline function to interpolate force values for the haptic force output. We demonstrate that the proposed method can provide smooth and accurate haptic force feedback in a high update rate during a low frequency physical simulation of complex and deformable models. In the experiments, we show the feasibility of the proposed method and compare its accuracy and stability with the linear force prediction algorithm.