Adding force feedback to graphics systems: issues and solutions

Integrating force feedback with a complete real-time virtual environment system presents problems which are more difficult than those encountered in building simpler forcefeedback systems. In particular, lengthy computations for graphics or simulation require a decoupling of the haptic servo loop from the main application loop if high-quality forces are to be produced. We present some approaches to these problems and describe our force-feedback software library which implements these techniques and provides other benefits including haptic-textured surfaces, device independence, distributed operation and easy enhancement.

[1]  Chris Shaw,et al.  The decoupled simulation model for virtual reality systems , 1992, CHI '92.

[2]  Vernon L. Chi,et al.  Surface modification tools in a virtual environment interface to a scanning probe microscope , 1995, I3D '95.

[3]  Grigore C. Burdea,et al.  Integration of the Rutgers Master II in a virtual reality simulation , 1995, Proceedings Virtual Reality Annual International Symposium '95.

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

[5]  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.

[6]  Rich Gossweiler,et al.  DIVER: A Distributed Virtual Environment Research platform , 1993, Proceedings of 1993 IEEE Research Properties in Virtual Reality Symposium.

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

[8]  William R. Mark,et al.  UNC-CH Force Feedback Library, Revision C , 1996 .

[9]  F. Brooks,et al.  Feeling and seeing: issues in force display , 1990, ACM Symposium on Interactive 3D Graphics and Games.

[10]  J. Edward Colgate,et al.  Haptic interfaces for virtual environment and teleoperator systems , 1995 .

[11]  C. S. G. Lee,et al.  Robotics: Control, Sensing, Vision, and Intelligence , 1987 .

[12]  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.

[13]  Blake Hannaford,et al.  Force-reflection and shared compliant control in operating telemanipulators with time delay , 1992, IEEE Trans. Robotics Autom..

[14]  Frederick P. Brooks,et al.  GROPE-1: A Computer Display to the Sense of Feel , 1971, IFIP Congress.

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

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

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

[18]  Blake Hannaford,et al.  Manipulation in real, virtual and remote environments , 1995, 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century.

[19]  Harry W. Mergler.  Industrial robots: Computer interfacing and control , 1986, Proceedings of the IEEE.

[20]  Mark C. Surles.  An algorithm with linear complexity for interactive, physically-based modeling of large proteins , 1992, SIGGRAPH.

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

[22]  Frederick P. Brooks,et al.  Project GROPE-HapticDisplays for Scientific Visualization , 1990 .

[23]  H. McIlvaine Parsons.  Telerobotics, Automation, and Supervisory Control by Thomas B. Sheridan 1992, 416 pages, $39.95 Cambridge: MIT Press ISBN 0–262–19316–7 , 1993 .

[24]  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.