Virtual clay modeling using the ISU exoskeleton
Virtual clay modeling using the ISU exoskeleton
复制标题
使用 ISU 外骨骼进行虚拟粘土建模
DOI：
10.1109/vrais.1998.658426
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
James C. Edwards
中科院分区：
文献类型：
--
作者：
Y. Chai;G. Luecke;James C. Edwards
一个可变形的非均匀有理B样条（NURBS）为基础的体积编程的爱荷华州州立大学（ISU）的力反射外骨骼触觉设备。一个直接的自由变形（DFFD）技术适用于逼真的操纵。为了实现实时变形，节点映射技术被用来连接虚拟对象上的点与NURBS体。这种几何建模技术是理想的结合力反映触觉设备作为一个虚拟的接口。本文提出的结果介绍了一个现实的虚拟粘土建模任务与力反馈的完整设置的细节。ISU的力反射外骨骼，加上一个支持的MANUA 560机械手和虚拟粘土模型与WorldToolKit（WTK）的图形显示集成，结果表明，从现实的基于物理的虚拟环境的力反馈可以大大提高沉浸感。
A deformable non-uniform rational B-spline (NURBS) based volume is programmed for the Iowa State University (ISU) force-reflecting exoskeleton haptic device. A direct free-form deformation (DFFD) technique is applied for realistic manipulation. In order to implement real-time deformation, a nodal mapping technique is used to connect points on the virtual object with the NURBS volume. This geometric modeling technique is ideally incorporated with the force-reflecting haptic device as a virtual interface. The results presented in this paper introduce details for the complete set-up for a realistic virtual clay modeling task with force feedback. The ISU force-reflecting exoskeleton, coupled with a supporting PUMA 560 manipulator and the virtual clay model are integrated with the WorldToolKit (WTK) graphics display, and the results show that the force feedback from the realistic physically-based virtual environment can greatly enhance the sense of immersion.