Haptic Rendering Using C1 Continuous Reconstructed Distance Fields

摘要：

Existing haptic rendering algorithms are limited in the complexity of the models that can be simulated realistically without artifacts such as extraneous force discontinuities or pop-through. High haptic update rates for realistic feedback require fast collision detection methods, such as those achievable using distance fields. We introduce an efficient algorithm for reconstructing a C1 distance field from discretely sampled distances and gradients. Our Coons-patch based interpolation method supports 50 kHz 3-DOF haptic rendering of complex models with high accuracy, while eliminating undesirable force discontinuities and pop-through. The approximation error of our representation on a 256×256×256 grid is similar to that of polygonal model reconstructions containing hundreds of thousands of polygons, an accuracy previously unobtainable with haptic force rendering.

关键词： haptic rendering distance fields Coons interpolation gradients collision detection

作者: Wei Li Youngung Shon Sara McMains

作者单位: Department of Mechanical Engineering, University of California, Berkeley, CA 94720, USA

会议类型: 国际会议

会议名称: IEEE International Conference on Shape Modeling and Applications (SMI)(2009年形状建模国际会议)

会议地点: 北京

会议语种:英文

页码: 163-170

在线出版日期: 2009-06-26（万方平台首次上网日期，不代表论文的发表时间）