Haptic Interfacing to Virtual Environments

Goals

Haptic interaction is an increasingly common form of interaction in virtual environment simulations. As part of this research, we have developed of algorithms for high fidelity haptic rendering of sliding frictional contact during manipulation of deformable objects in virtual environments. In order to model intermittent and sliding contacts, we have developed a multi-rate simulation approach which employs a local geometric model a local dynamic model that are simulated at haptic update rates. The local geometric and dynamic models are used for performing collision detection and response as part of the high update rate haptic loop, with sub-sample collision detection and a novel constraint-based hybrid collision response method.

Highlights

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