Extending the Friction Cone Algorithm for Arbitrary Polygon Based Haptic Objects
نویسندگان
چکیده
Most haptic environments are based on single point interactions whereas in practice, object manipulation requires multiple contact points between the object, fingers, thumb and palm. The Friction Cone Algorithm was developed specifically to work well in a multi-finger haptic environment where object manipulation would occur. However, the Friction Cone Algorithm has two shortcomings when applied to polygon meshes: there is no means of transitioning polygon boundaries or feeling non-convex edges. In order to overcome these deficiencies, Face Directed Connection Graphs have been developed as well as a robust method for applying friction to non-convex edges. Both these extensions are described herein, as well as the implementation issues associated with them.
منابع مشابه
Improved Haptic Rendering for Multi-Finger Manipulation Using Friction Cone based God-Objects
A novel method of characterising friction in a virtual haptic environment is described and validated in a small experimental two-finger grasp task. The algorithm adapts a common technique called the god-object method, such that the god-object is updated only when it strays outside the friction cone defined by the coefficient of friction of the object surface. The technique not only allows effic...
متن کاملA New Heuristic Algorithm for Drawing Binary Trees within Arbitrary Polygons Based on Center of Gravity
Graphs have enormous usage in software engineering, network and electrical engineering. In fact graphs drawing is a geometrically representation of information. Among graphs, trees are concentrated because of their ability in hierarchical extension as well as processing VLSI circuit. Many algorithms have been proposed for drawing binary trees within polygons. However these algorithms generate b...
متن کامل6-DoF Haptic Rendering of Static Coulomb Friction Using Linear Programming
Simulating frictional contact between objects with complex geometry is important for 6-DoF haptic rendering applications. For example, friction determines whether components can be navigated past narrow clearances in virtual assembly. State-of-the-art haptic rendering of frictional contact either augments penalty contact with frictional penalty springs, which do not prevent sliding and cannot r...
متن کاملHaptic Synthesis
This paper discusses a set of algorithms to reconstruct interaction forces between objects in a physically accurate manner. They must be fast enough to minimize the creation of spurious energy resulting from the discrete-time realization of displacement-to-force relationships. The most fundamental is an algorithm to compute the force of friction. Another algorithm is then described for sharp cu...
متن کاملKinetic Surface Friction Rendering for Interactive Sonification: an Initial Exploration
Inspired by the role sound and friction play in interactions with everyday objects, this work aims to identify some of the ways in which kinetic surface friction rendering can complement interactive sonification controlled by movable objects. In order to do this, a tactile system is presented which implements a movable physical object with programmable friction. Important aspects of this system...
متن کامل