title: Six degree-of-freedom haptic rendering using spatialized normal cone search.
abstract: This paper describes a haptic rendering algorithm for arbitrary polygonal models using a six degree-of-freedom haptic interface. The algorithm supports activities such as virtual prototyping of complex polygonal models and adding haptic interaction to virtual environments. The underlying collision system computes local extrema in distance between the model controlled by the haptic device and the rest of the scene. The haptic rendering computes forces and torques on the moving model based on these local extrema. The system is demonstrated on models with tens of thousands of triangles and developed in an accessibility application for finding collision-free paths.
authors.affiliation: School of Computing, 50 S. Central Campus Drive, MEB 3190, University of Utah, Salt Lake City, UT 84112, USA. dejohnso@cs.utah.edu
authors.forename: David E
authors.initials: DE
authors.lastname: Johnson
authors.forename: Peter
authors.initials: P
authors.lastname: Willemsen
authors.forename: Elaine
authors.initials: E
authors.lastname: Cohen
mesh_terms: D003198:Computer Simulation; D003199:Computer Systems; D003491:Cybernetics / Q000379:methods; D003626:Data Display; D004777:Environment; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods*; D008328:Man-Machine Systems; D008954:Models, Biological; D009862:Online Systems; D014110:Touch / Q000502:physiology*; D014584:User-Computer Interface