Introduction to haptic rendering

For a long time, human beings have dreamed of a virtual world where it is possible to interact with synthetic entities as if they were real. To date, the advances in computer graphics allow us to see virtual objects and avatars, to hear them, to move them, and to touch them. It has been shown that the ability to touch virtual objects increases the sense of presence in virtual environments [Insko 2001].

[1]  W. Eric L. Grimson,et al.  Simulating arthroscopic knee surgery using volumetric object representations, real-time volume rendering and haptic feedback , 1997, CVRMed.

[2]  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).

[3]  Grigore C. Burdea,et al.  Force and Touch Feedback for Virtual Reality , 1996 .

[4]  J. Edward Colgate,et al.  Passivity of a class of sampled-data systems: Application to haptic interfaces , 1997, J. Field Robotics.

[5]  Tony DeRose,et al.  Multiresolution analysis for surfaces of arbitrary topological type , 1997, TOGS.

[6]  Thanh Giang,et al.  Evaluating the visual fidelity of physically based animations , 2003, ACM Trans. Graph..

[7]  Dinesh K. Pai,et al.  Haptic interaction with multiresolution image curves , 1997, Comput. Graph..

[8]  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).

[9]  James M. Van Verth,et al.  Adding force feedback to graphics systems: issues and solutions , 1996, SIGGRAPH.

[10]  Blake Hannaford,et al.  A two-port framework for the design of unconditionally stable haptic interfaces , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[11]  Elizabeth A. Croft,et al.  Impulsive forces for haptic rendering of rigid contacts , 2004 .

[12]  Ronald Fedkiw,et al.  Nonconvex rigid bodies with stacking , 2003, ACM Trans. Graph..

[13]  D. Stewart,et al.  AN IMPLICIT TIME-STEPPING SCHEME FOR RIGID BODY DYNAMICS WITH INELASTIC COLLISIONS AND COULOMB FRICTION , 1996 .

[14]  J. Edward Colgate,et al.  REAL-TIME IMPULSE-BASED SIMULATION OF RIGID BODY SYSTEMS FOR HAPTIC DISPLAY , 1997 .

[15]  Ming C. Lin,et al.  Efficient collision detection for animation and robotics , 1993 .

[16]  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.

[17]  Dinesh Manocha,et al.  Fast and simple 2D geometric proximity queries using graphics hardware , 2001, I3D '01.

[18]  Gino van den Bergen.  Proximity Queries and Penetration Depth Computation on 3D Game Objects , 2001 .

[19]  K. Johnson,et al.  Neural coding of tactile texture: comparison of spatial and temporal mechanisms for roughness perception , 1992, The Journal of neuroscience : the official journal of the Society for Neuroscience.

[20]  Makoto Sato,et al.  Real‐time Rigid Body Simulation for Haptic Interactions Based on Contact Volume of Polygonal Objects , 2004, Comput. Graph. Forum.

[21]  S. E. Salcudean,et al.  On the Emulation of Stiff Walls and Static Friction with a Magnetically Levitated Input/Output Devic , 1997 .

[22]  Vincent Hayward,et al.  High-fidelity haptic synthesis of contact with deformable bodies , 2004, IEEE Computer Graphics and Applications.

[23]  C. E. Lemke,et al.  Bimatrix Equilibrium Points and Mathematical Programming , 1965 .

[24]  John Kenneth Salisbury,et al.  Haptic rendering: programming touch interaction with virtual objects , 1995, I3D '95.

[25]  Ming Wan,et al.  Quasi-static approach approximation for 6 degrees-of-freedom haptic rendering , 2003, IEEE Visualization, 2003. VIS 2003..

[26]  Dinesh Manocha,et al.  Fast penetration depth estimation using rasterization hardware and hierarchical refinement , 2003, SCG '03.

[27]  Andrew P. Witkin,et al.  Large steps in cloth simulation , 1998, SIGGRAPH.

[28]  David Salesin,et al.  Wavelets for computer graphics: theory and applications , 1996 .

[29]  I ROCK,et al.  Vision and Touch: An Experimentally Created Conflict between the Two Senses , 1964, Science.

[30]  Peter Willemsen,et al.  Accelerated haptic rendering of polygonal models through local descent , 2004, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings..

[31]  Allison M. Okamura,et al.  Feature Detection for Haptic Exploration with Robotic Fingers , 2001, Int. J. Robotics Res..

[32]  Elaine Cohen,et al.  Painting textures with a haptic interface , 1999, Proceedings IEEE Virtual Reality (Cat. No. 99CB36316).

[33]  E. Larsen,et al.  A Robot Soccer Simulator: A Case Study for Rigid Body Contact , 2001 .

[34]  David Baraff,et al.  Coping with friction for non-penetrating rigid body simulation , 1991, SIGGRAPH.

[35]  Ming C. Lin,et al.  Stable and responsive six-degree-of-freedom haptic manipulation using implicit integration , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[36]  R. Klatzky,et al.  Tactile roughness perception with a rigid link interposed between skin and surface , 1999, Perception & psychophysics.

[37]  Arie E. Kaufman,et al.  Haptic sculpting of dynamic surfaces , 1999, SI3D.

[38]  Tony DeRose,et al.  Multiresolution analysis of arbitrary meshes , 1995, SIGGRAPH.

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

[40]  Raimund Seidel,et al.  Linear programming and convex hulls made easy , 1990, SCG '90.

[41]  Jeffrey C. Trinkle,et al.  An implicit time-stepping scheme for rigid body dynamics with Coulomb friction , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[42]  Mandayam A. Srinivasan,et al.  Surface Microgeometry: Tactile Perception and Neural Encoding , 1991 .

[43]  John Dingliana,et al.  Collisions and perception , 2001, TOGS.

[44]  Elaine Cohen,et al.  Haptic rendering of surface-to-surface sculpted model interaction , 1999, SIGGRAPH Courses.

[45]  Oussama Khatib,et al.  A framework for multi-contact multi-body dynamic simulation and haptic display , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[46]  Hong Z. Tan,et al.  An experimental study of perceived instability during haptic texture rendering: effects of collision detection algorithm , 2003, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings..

[47]  Brian Mirtich,et al.  Timewarp rigid body simulation , 2000, SIGGRAPH.

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

[49]  Elaine Cohen,et al.  Spatialized Normal Cone Hierarchies , 2000 .

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

[51]  Stephen Cameron,et al.  Enhancing GJK: computing minimum and penetration distances between convex polyhedra , 1997, Proceedings of International Conference on Robotics and Automation.

[52]  Ricardo S. Avila,et al.  A haptic interaction method for volume visualization , 1996, Proceedings of Seventh Annual IEEE Visualization '96.

[53]  R. Klatzky,et al.  Feeling textures through a probe: Effects of probe and surface geometry and exploratory factors , 2003, Perception & psychophysics.

[54]  M. Hollins,et al.  Evidence for the duplex theory of tactile texture perception , 2000, Perception & psychophysics.

[55]  Dinesh Manocha,et al.  CULLIDE: interactive collision detection between complex models in large environments using graphics hardware , 2003, HWWS '03.

[56]  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.

[57]  Edwin Earl Catmull,et al.  A subdivision algorithm for computer display of curved surfaces. , 1974 .

[58]  R. C. Goertz,et al.  ELECTRONICALLY CONTROLLED MANIPULATOR , 1954 .

[59]  Brian Mirtich.  Rigid Body Contact: Collision Detection to Force Computation , 1998 .

[60]  Ralph L. Hollis,et al.  Tool-based haptic interaction with dynamic physical simulations using lorentz magnetic levitation , 1999 .

[61]  Susan J. Lederman,et al.  Perceiving Texture through a Probe , 2002 .

[62]  David Baraff,et al.  Analytical methods for dynamic simulation of non-penetrating rigid bodies , 1989, SIGGRAPH.

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

[64]  Mathieu Desbrun,et al.  Dynamic real-time deformations using space & time adaptive sampling , 2001, SIGGRAPH.

[65]  Cagatay Basdogan,et al.  A Ray-Based Haptic Rendering Technique for Displaying Shape and Texture of 3D Objects in Virtual Environments , 1997, Dynamic Systems and Control.

[66]  G. Dantzig,et al.  COMPLEMENTARY PIVOT THEORY OF MATHEMATICAL PROGRAMMING , 1968 .

[67]  Victor J. Milenkovic,et al.  Optimization-based animation , 2001, SIGGRAPH.

[68]  Per Lötstedt.  Numerical Simulation of Time-Dependent Contact and Friction Problems in Rigid Body Mechanics , 1984 .

[69]  Pixar Animation Studios,et al.  Physically Based Modeling , 2001 .

[70]  Dinesh Manocha,et al.  Collision queries using oriented bounding boxes , 2000 .

[71]  Randy A. Freeman,et al.  Guaranteed stability of haptic systems with nonlinear virtual environments , 2000, IEEE Trans. Robotics Autom..

[72]  Ming C. Lin,et al.  Sensation preserving simplification for haptic rendering , 2003, SIGGRAPH Courses.

[73]  Ming C. Lin,et al.  Fast Penetration Depth Computation Using Rasterization Hardware and Hierarchical Refinement , 2002 .

[74]  Ming C. Lin,et al.  CLODs: Dual Hierarchies for Multiresolution Collision Detection , 2003, Symposium on Geometry Processing.

[75]  Philip M. Hubbard,et al.  Collision Detection for Interactive Graphics Applications , 1995, IEEE Trans. Vis. Comput. Graph..

[76]  Frederick P. Brooks,et al.  Feeling and seeing: issues in force display , 1990, I3D '90.

[77]  Ming C. Lin,et al.  Collision Detection between Geometric Models: A Survey , 1998 .

[78]  Leonidas J. Guibas,et al.  H-Walk: hierarchical distance computation for moving convex bodies , 1999, SCG '99.

[79]  Dinesh Manocha,et al.  DEEP: dual-space expansion for estimating penetration depth between convex polytopes , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[80]  J. K. Salisbury,et al.  Kinesthetic coupling between operator and remote manipulator , 1980 .

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

[82]  C. Spence,et al.  Crossmodal links between vision and touch in covert endogenous spatial attention. , 2000, Journal of experimental psychology. Human perception and performance.

[83]  John Cohen.  The World of Touch , 1952, Nature.

[84]  Doug L. James,et al.  BD-tree: output-sensitive collision detection for reduced deformable models , 2004, SIGGRAPH 2004.

[85]  Ming Wan,et al.  Quasi-Static Approximation for 6 Degrees-of-Freedom Haptic Rendering , 2003, IEEE Visualization.

[86]  Brian Mirtich,et al.  V-Clip: fast and robust polyhedral collision detection , 1998, TOGS.

[87]  C. Davis.  Touch , 1997, The Lancet.

[88]  James F. Blinn,et al.  Simulation of wrinkled surfaces , 1978, SIGGRAPH.

[89]  John F. Canny,et al.  Impulse-based simulation of rigid bodies , 1995, I3D '95.

[90]  Ming C. Lin,et al.  Haptic display of interaction between textured models , 2004, IEEE Visualization 2004.

[91]  S. A. Cameron,et al.  Determining the minimum translational distance between two convex polyhedra , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[92]  Brian Mirtich,et al.  Impulse-based dynamic simulation of rigid body systems , 1996 .

[93]  Joseph S. B. Mitchell,et al.  Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs , 1998, IEEE Trans. Vis. Comput. Graph..

[94]  S. Sathiya Keerthi,et al.  A fast procedure for computing the distance between complex objects in three-dimensional space , 1988, IEEE J. Robotics Autom..

[95]  Elaine Cohen,et al.  Spatialized normal come hierarchies , 2001, I3D '01.

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

[97]  James J. Troy,et al.  Six degree-of-freedom haptic rendering using voxel sampling , 1999, SIGGRAPH.

[98]  Blake Hannaford,et al.  Stable Control of Haptics , 2001 .

[99]  Ming C. Lin,et al.  ArtNova: touch-enabled 3D model design , 2005, SIGGRAPH Courses.

[100]  Hugues Hoppe,et al.  View-dependent refinement of progressive meshes , 1997, SIGGRAPH.

[101]  Carol O'Sullivan,et al.  A Model of Collision Perception for Real-Time Animation , 1999, Computer Animation and Simulation.

[102]  B. Neisius,et al.  The Karlsruhe Endoscopic Surgery Trainer as an example for virtual reality in medical education , 1997 .

[103]  Abderrahmane Kheddar,et al.  Fast Continuous Collision Detection between Rigid Bodies , 2002, Comput. Graph. Forum.

[104]  A. Bejczy,et al.  Graphics displays for operator aid in telemanipulation , 1991, Conference Proceedings 1991 IEEE International Conference on Systems, Man, and Cybernetics.

[105]  Sean Quinlan,et al.  Efficient distance computation between non-convex objects , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[106]  J. W. Hill.  Two measures of performance in a peg-in-hole manipulation task with force feedback , 1977 .

[107]  Vincent Hayward,et al.  FREEDOM-7: A High Fidelity Seven Axis Haptic Device with Application to Surgical Training , 1997, ISER.

[108]  S. Lederman.  Tactile roughness of grooved surfaces: The touching process and effects of macro- and microsurface structure , 1974 .

[109]  Jane Wilhelms,et al.  Collision Detection and Response for Computer Animation , 1988, SIGGRAPH.

[110]  Ming C. Lin,et al.  inTouch: interactive multiresolution modeling and 3D painting with a haptic interface , 2000, Proceedings IEEE Virtual Reality 2000 (Cat. No.00CB37048).

[111]  Gert Vegter,et al.  In handbook of discrete and computational geometry , 1997 .

[112]  Thomas H. Massie,et al.  The PHANToM Haptic Interface: A Device for Probing Virtual Objects , 1994 .

[113]  Susan J. Lederman,et al.  PERCEIVING ROUGHNESS VIA A RIGID PROBE: PSYCHOPHYSICAL EFFECTS OF EXPLORATION SPEED AND MODE OF TOUCH , 1999 .

[114]  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.

[115]  David P. Luebke,et al.  View-dependent simplification of arbitrary polygonal environments , 1997, SIGGRAPH.

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

[117]  Ming C. Lin,et al.  Fast penetration depth estimation for elastic bodies using deformed distance fields , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[118]  Peter Willemsen,et al.  Six degree-of-freedom haptic rendering of complex polygonal models , 2003, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings..

[119]  Hans-Peter Kriegel,et al.  The R*-tree: an efficient and robust access method for points and rectangles , 1990, SIGMOD '90.

[120]  R. Klatzky,et al.  Identifying objects from a haptic glance , 1995, Perception & psychophysics.

[121]  D. Baraff.  Dynamic simulation of nonpenetrating rigid bodies , 1992 .

[122]  Mary C. Whitton,et al.  Passive haptics significantly enhances virtual environments , 2001 .

[123]  Leonidas J. Guibas,et al.  Penetration Depth of Two Convex Polytopes in 3D , 2000, Nord. J. Comput..

[124]  M. Heller,et al.  Intersensory conflict between vision and touch: The response modality dominates when precise, attention-riveting judgments are required , 1999, Perception & psychophysics.

[125]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .

[126]  Susan J. Lederman,et al.  Virtual peg-in-hole performance using a 6-DOF magnetic levitation haptic device: comparison with real forces and with visual guidance alone , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[127]  S. Shankar Sastry,et al.  Telesurgery and surgical simulation: design, modeling, and evaluation of haptic interfaces to real and virtual surgical environments , 2000 .

[128]  Hong Qin,et al.  Virtual clay: a real-time sculpting system with haptic toolkits , 2001, I3D '01.

[129]  Susan J. Lederman,et al.  Computational haptics: the sandpaper system for synthesizing texture for a force-feedback display , 1995 .

[130]  Hong Z. Tan,et al.  Aliveness: perceived instability from a passive haptic texture rendering system , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[131]  Jung Hong Chuang.  Level of Detail for 3D Graphics , 2002 .

[132]  Hans-Peter Kriegel,et al.  Stable Haptic Interaction with Virtual Environments Using and Adapted Voxmap-PointShell Algorithm , 2001 .

[133]  Dean Karnopp,et al.  Computer simulation of stick-slip friction in mechanical dynamic systems , 1985 .

[134]  Peter Schröder,et al.  Interactive multiresolution mesh editing , 1997, SIGGRAPH.

[135]  Dinesh Manocha,et al.  Fast distance queries with rectangular swept sphere volumes , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[136]  David G. Kirkpatrick,et al.  Computing the intersection-depth of polyhedra , 1993, Algorithmica.

[137]  K. B. Shimoga,et al.  Finger Force and Touch Feedback Issues in Dexterous Telemanipulation , 1992, Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration.

[138]  David G. Kirkpatrick,et al.  Determining the Separation of Preprocessed Polyhedra - A Unified Approach , 1990, ICALP.

[139]  Paul Jerome Kilpatrick,et al.  The use of a kinesthetic supplement in an interactive graphics system. , 1976 .

[140]  Jihad El-Sana,et al.  Continuously-Adaptive Haptic Rendering , 2000, EGVE.

[141]  Jean-Christophe Lombardo,et al.  Real-time collision detection for virtual surgery , 1999, Proceedings Computer Animation 1999.

[142]  J. Edward Colgate,et al.  Implementation of stiff virtual walls in force-reflecting interfaces , 1993, Proceedings of IEEE Virtual Reality Annual International Symposium.

[143]  Frederick P. Brooks,et al.  Project GROPEHaptic displays for scientific visualization , 1990, SIGGRAPH.

[144]  Randy E. Ellis,et al.  Numerical Methods for the Force Reflection of Contact , 1997 .

[145]  Karon E. MacLean,et al.  Seeing, hearing, and touching: putting it all together , 2004, SIGGRAPH '04.

[146]  Vincent Hayward,et al.  A New Compuatitional Model of Friction Applied to Haptic Rendering , 1999, ISER.

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

[148]  F. Brooks,et al.  Force display in molecular docking , 1990 .

[149]  Ming C. Lin,et al.  Accelerated proximity queries between convex polyhedra by multi-level Voronoi marching , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[150]  Dinesh K. Pai,et al.  Scanning physical interaction behavior of 3D objects , 2001, SIGGRAPH.

[151]  Ming C. Lin,et al.  A framework for fast and accurate collision detection for haptic interaction , 2005, SIGGRAPH Courses.

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

[153]  Christian Duriez,et al.  A multi-threaded approach for deformable/rigid contacts with haptic feedback , 2004, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings..

[154]  Ming C. Lin,et al.  Accurate and Fast Proximity Queries Between Polyhedra Using Convex Surface Decomposition , 2001, Comput. Graph. Forum.

[155]  David Baraff,et al.  Fast contact force computation for nonpenetrating rigid bodies , 1994, SIGGRAPH.

[156]  Allison M. Okamura,et al.  Haptic exploration of fine surface features , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[157]  Miguel. A. Otaduy,et al.  Sensation preserving "Simplication for haptic rendering" , 2003 .