Haptic Rendering Foundations Algorithms And Applications Pdf


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haptic rendering foundations algorithms and applications pdf

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Haptic rendering is the computational technology that allows us to interact with virtual worlds through the sense of touch. It relies on an algorithm that simulates a virtual world in a physically based manner and computes interaction forces, and a robotic device that transmits those interaction forces to the user. Haptics science is a multidisciplinary field that brings together psycophysics research for the understanding of tactile cues and human perception, mechanical engineering for the design of robotic devices, control theory for the analysis of the coupling between the real and virtual worlds, and computer science, in particular computer graphics, for the simulation of the virtual world and the design of the haptic rendering algorithm. Our group carries out research in multiple areas of haptic rendering, from the algorithmic foundations for efficient computation of interaction forces with virtual environments, to the application of haptics in training, navigation, or visualization settings. The hand concentrates a large number of the mechanoreceptors in the human body, and serves as the major means of bidirectional interaction with the world. Meanwhile, operations such as object manipulation and palpation rely on the fine perception of contact forces, both in time and space.

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Springer Handbook of Robotics pp Cite as. The word haptics , believed to be derived from the Greek word haptesthai , means related to the sense of touch. In the robotics and virtual reality literature, haptics is broadly defined as real and simulated touch interactions between robots, humans, and real, remote, or simulated environments, in various combinations. This chapter focuses on the use of specialized robotic devices and their corresponding control, known as haptic interfaces , that allow human operators to experience the sense of touch in remote teleoperated or simulated virtual environments. Skip to main content. This service is more advanced with JavaScript available.

The system can't perform the operation now. Try again later. Citations per year. Duplicate citations. The following articles are merged in Scholar. Their combined citations are counted only for the first article.

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We present a floor tile designed to provide the impression of walking on different ground materials, such as gravel, carpet, or stone. The device uses affordable and commercially available vibrotactile actuators and force sensors, and as such might one day be cost-effectively used in everyday environments. The control software is based on a lumped model of physical interactions between the foot and the ground surface. We have prototyped a measurement scheme for calibrating the device to match real-world ground materials. Unable to display preview.

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School of Computing, University of Utah

Skip to search form Skip to main content You are currently offline. Some features of the site may not work correctly. DOI: Lin and M. Lin , M.

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