Stable Haptic Interaction with Virtual Environments Using and Adapted Voxmap-PointShell Algorithm
Stable Haptic Interaction with Virtual Environments Using and Adapted Voxmap-PointShell Algorithm
复制标题
DOI：
--
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
M. Renz;C. Preusche;Marco Pötke;H. Kriegel;G. Hirzinger
中科院分区：
文献类型：
--
作者：
M. Renz;C. Preusche;Marco Pötke;H. Kriegel;G. Hirzinger
尽管近年来有很多研究，但如何在虚拟环境中实现稳定、逼真的力觉交互仍然是一个尚未解决的问题。在不同的方法中，Voxmap-PointShell TM（VPS）方法似乎非常有前途，由于恒定的采样率，独立于静态环境。但全球仍有稳定问题需要解决。本文提出了一些修改的基础上的VPS，包括动态对象建模和力的计算方法，以减少计算的碰撞力的干扰，以增加稳定性。PointShell点正好位于动态对象的曲面上，以获得更平滑的曲面表示。碰撞力计算的变化导致由于体积空间的离散化而出现的“体素噪声”的减少。虚拟耦合的设计框架，使不同的触觉设备的自动配置。不同的运动美学手控制器的有效性将被证明。
Despite a lot of research in recent years stable and realistic haptic interaction with virtual environments keeps an unsolved problem. Among different approaches the Voxmap-PointShell TM (VPS) method seems very promising due to constant sample rates, independent of the static environment. But there is still the stability problem to be solved globally. In this paper some adaptations based on the VPS are presented, including the dynamic object modeling and the force calculation method, to reduce the distractions of the calculated collision forces to increase stability. The PointShell points lie exactly on the surface of the dynamic object, to get a smoother surface representation. A variation of the collision force calculation leads to a reduction of the “voxel noise”, that appears due to the discretization of the volume space. A design framework for the virtual coupling is presented, that enables the automatic configuration for different haptic devices. The validity will be shown with different kineasthetic hand controllers.