Physically realistic haptic interaction with dynamic virtual worlds

Sundar R. Vedula; David Baraff

doi:10.1117/12.295590

12 December 1997 Physically realistic haptic interaction with dynamic virtual worlds

Sundar R. Vedula, David Baraff

Proceedings Volume 3206, Telemanipulator and Telepresence Technologies IV; (1997) https://doi.org/10.1117/12.295590
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

There has been increased interest in recent years in the use of the sensation of force as a supplement to visual and auditory feed-back normally found in virtual environments. To produce a realistic feel of interacting with moving synthetic objects, the interactions between the objects and those between the user and the environment need to be based on physical laws. In this work, we present techniques for interaction of a human with a dynamic virtual environment through the haptic channel, specifically by integrating an articulated force feedback arm with a graphical physically based interactive simulation system. A distributed simulation and control model, to separate two fundamental requirements on graphics and force control is used. We describe techniques used for elegant force display in a dynamic environment, and a physically based algorithm to model surface friction between the probe and the objects. Three schemes for a local model update are also presented and compared.

Citation Download Citation

Sundar R. Vedula and David Baraff "Physically realistic haptic interaction with dynamic virtual worlds", Proc. SPIE 3206, Telemanipulator and Telepresence Technologies IV, (12 December 1997); https://doi.org/10.1117/12.295590

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