Passive Haptic Deformation Using Force Bounding

PubDate: October 2017

Teams: University of Victoria

Writers: Rebecca McWilliam；Daniela Constantinescu；Daniela Damian

PDF: Passive Haptic Deformation Using Force Bounding

Abstract

Haptic interaction with deformable virtual environments demands high control rates in order to provide realistic interaction forces to the user. However, the update rates of physically-based simulations can be slow and variable for complex deformations. This paper bridges the rate gap between the haptic controller and an arbitrary virtual environment by interposing a local model of interaction between the two. The local model speeds up force feedback calculations by approximating the geometry and stiffness of the virtual constraints. It also maintains the haptic simulation stable by using a force bounding approach to limit the energy transferred to the user from the virtual environment.