LIXEL:Novel Modeling and Rendering Method in Real Time Haptic Human-machine Interaction

According to the requirement in spatial trajectory-guided haptic human-machine interaction process, line-based modeling and real-time rendering method were introduced. In modeling method, LIXEL (line elements) were defined to form the basic units of modeling 3D complex trajectories. Topological structure between line elements was modeled by feature points, which includes linkages and sequence between line elements within a specified complex trajectory. In real-time rendering, a novel collision detection algorithm based on Bezier curve was introduced to satisfy the 1kHz update rate requirement in force rendering loop, which was evolved from the De Casteljau algorithm. Stability control during the force feedback procedure was ensured by detecting feature planes between line elements. The force feedback enabled Chinese calligraphy training system based on line-based modeling method was developed. Experiment results prove that the line-based modeling method can stably simulate the force feedback enabled guiding procedure with fidelity during the calligraphy training.

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