Six Degrees of Freedom Implicit Haptic Rendering

被引：0
作者：
Moustakas, Konstantinos [1 ]
机构：
[1] Electrical and Computer Engineering Department, University of Patras, Rio-Patras
来源：
IFIP Advances in Information and Communication Technology | 2014年 / 436卷
关键词：
Haptic rendering; implicit representation; six degrees offreedom;
D O I：
10.1007/978-3-662-44654-6_54
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
This paper introduces a six degrees of freedom haptic rendering scheme based on an implicit support plane mapping representation of the object geometries. The proposed scheme enables, under specific assumptions, the analytical reconstruction of the rigid 3D object’s surface, using the equations of the support planes and their respective distance map. As a direct consequence, the problem of calculating the force feedback can be analytically solved using only information about the 3D object’s spatial transformation and position of the haptic probe. Several haptic effects are derived by the proposed mesh-free haptic rendering formulation. Experimental evaluation and computational complexity analysis demonstrates that the proposed approach can reduce significantly the computational cost when compared to existing methods. © IFIP International Federation for Information Processing 2014.
引用
收藏
页码：546 / 555
页数：9
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