The ability of human subjects to identify and discriminate between different-sized real objects was compared with their ability to identify and discriminate between differentsized simulated objects generated by a haptic interface. This comparison was additionally performed for cases of limited force and limited stiffness output from the haptic device, which in effect decrease the fidelity of th...

A novel interactive virtual needle insertion simulation is presented. Simulation models are based upon planar tissue deformations and forces measured during needle insertion experiments. Users are able to control a three-degree-of-freedom virtual needle as it penetrates a linear elastostatic tissue model, while experiencing steering torques and lateral needle forces through a planar haptic inte...

Real-time, plausible visual and haptic feedback of deformable objects without shape artifacts is important in surgical simulation environments to avoid distracting the user. We propose to leverage highly parallel stream processing, available on the newest generation graphics cards, to increase the level of both visual and haptic fidelity. We implemented this as part of the University of Florida...

Purpose – The paper aims to present interactive simulation with haptic feedback as a valid method for solving complex assembly problems in the context of industrial product development. Its purpose is to clarify the position of interactive simulation with respect to other methods, and to emphasize its specific value for design engineers. Design/methodology/approach – The paper describes the cha...

Efficient engineering design and development of high precision and reliable surgical simulators, like haptic devices for surgical training benefits from model-based and simulation driven design. The complexity of the design space, multi-domains, multicriteria requirements and multi-physics character of the behavior of such a product ask for a model based systematic approach for creating and val...

A virtual environment (VE) may represent a simulation of a real environment or of an artificial environment, such as in scientific visualization of data. For haptic interaction with a VE, the simulation has to compute some kind of geometrical relationship between positions of the haptic interface and objects in the VE, and then based on this geomety to compute an interaction force arising from ...

We present a system that enables, for the first time, effective transatlantic haptic cooperation. We propose a technique for maintaining synchrony between simulations in a peer-to-peer system, while providing responsive direct manipulation for all users. The effectiveness of this is determined through extensive user trials involving concurrent haptic manipulation of a shared object. A CAD assem...

Training systems for dental implantology that are based on virtual reality need a precise haptic feedback with six Degrees of Freedom (6DoF) This is particularly challenging when using real patient data for the jawbone and during the interactive simulation of drilling. In this paper, we present our simulator and two complementary contributions: The first one is a method for 6DoF haptic renderin...

Under-actuated 6/3-DOF haptic devices are mostly used for simple 3-DOF point-based haptic interaction because of missing torque feedback. In this work, we present a system involving sensory substitution and pseudo-haptic feedback that effectively simulate torque feedback using visuo-tactile cues. The proposed system was implemented into a 6DOF haptic rendering algorithm and tested on an under-a...

Common approaches for the haptic rendering of complex scenarios employ multi-rate simulation schemes. Here, the collision queries or the simulation of a complex deformable object are often performed asynchronously at a lower frequency, while some kind of intermediate contact representation is used to simulate interactions at the haptic rate. However, this can produce artifacts in the haptic ren...