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Function-based single and dual point haptic interaction in Cyberworlds

Wei, Lei, Sourin, Alexei, Najdovski, Zoran and Nahavandi, Saeid 2012, Function-based single and dual point haptic interaction in Cyberworlds, in Transactions on computational science XVI, Springer, Heidelberg, Germany, pp.1-16.

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Title Function-based single and dual point haptic interaction in Cyberworlds
Author(s) Wei, Lei
Sourin, Alexei
Najdovski, Zoran
Nahavandi, Saeid
Title of book Transactions on computational science XVI
Editor(s) Gavrilova, Marina L.
Tan, C. J. Kenneth
Publication date 2012
Series Lecture notes in computer science; v. 7380
Chapter number 1
Total chapters 11
Start page 1
End page 16
Total pages 16
Publisher Springer
Place of Publication Heidelberg, Germany
Keyword(s) function-based approach
haptic interaction
dual-point haptic interaction
haptic collision detection
haptic force rendering
shared virtual spaces
Summary Polygon and point based models dominate virtual reality. These models also affect haptic rendering algorithms, which are often based on collision with polygons. With application to dual point haptic devices for operations like grasping, complex polygon and point based models will make the collision detection procedure slow. This results in the system not able to achieve interactivity for force rendering. To solve this issue, we use mathematical functions to define and implement geometry (curves, surfaces and solid objects), visual appearance (3D colours and geometric textures) and various tangible physical properties (elasticity, friction, viscosity, and force fields). The function definitions are given as analytical formulas (explicit, implicit and parametric), function scripts and procedures. We proposed an algorithm for haptic rendering of virtual scenes including mutually penetrating objects with different sizes and arbitrary location of the observer without a prior knowledge of the scene to be rendered. The algorithm is based on casting multiple haptic rendering rays from the Haptic Interaction Point (HIP), and it builds a stack to keep track on all colliding objects with the HIP. The algorithm uses collision detection based on implicit function representation of the object surfaces. The proposed approach allows us to be flexible when choosing the actual rendering platform, while it can also be easily adopted for dual point haptic collision detection as well as force and torque rendering. The function-defined objects and parts constituting them can be used together with other common definitions of virtual objects such as polygon meshes, point sets, voxel volumes, etc. We implemented an extension of X3D and VRML as well as several standalone application examples to validate the proposed methodology. Experiments show that our concern about fast, accurate rendering as well as compact representation could be fulfilled in various application scenarios and on both single and dual point haptic devices.
ISBN 9783642326622
9783642326639
ISSN 0302-9743
1611-3349
Language eng
Field of Research 080602 Computer-Human Interaction
Socio Economic Objective 970108 Expanding Knowledge in the Information and Computing Sciences
HERDC Research category B1 Book chapter
Persistent URL http://hdl.handle.net/10536/DRO/DU:30049535

Document type: Book Chapter
Collection: Centre for Intelligent Systems Research
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