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Introduction to Haptic Rendering

Introduction to Haptic Rendering. Cagatay Basdogan, Ph.D. JPL - Virtual Environments Laboratory California Institute of Technology (http://eis.jpl.nasa.gov/~basdogan). F. Haptic (adj.): related to the sense of touch. . Graphical Rendering :

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Introduction to Haptic Rendering

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  1. Introduction to Haptic Rendering Cagatay Basdogan, Ph.D JPL - Virtual Environments Laboratory California Institute of Technology (http://eis.jpl.nasa.gov/~basdogan)

  2. F Haptic (adj.): related to the sense of touch. Graphical Rendering: process of displaying synthetically generated 2D/3D visual stimuli to the user Haptic Rendering: process of displaying synthetically generated 2D/3D haptic stimuli to the user simulated haptic probe Haptic Interface: device for touch interactions in real and virtual worlds

  3. Haptic Feedback for Molecular Simulation Applications force molecule Haptic Display Visual Display Haptic Feedback for Medical Simulation and Training

  4. Applications Haptic Visualization Haptic Feedback for Collaborative Engineering Design haptic display collected data tangible data • Tangible Interfaces • buttons • dials • slider bars • folders • layers • force fields Simulation of repair and maintenance tasks Haptic User Interface (HUI) Haptic Feedback for Crew Training

  5. The Power of Touch: A little evidence can tell you the whole story!

  6. Human Haptics Machine Haptics Human vs Machine Haptics:

  7. Machine Haptics: Types of Haptic Devices Tactile Displays Net Force Displays

  8. Force Types of Haptic Devices Active Passive keyboard, trackball, mice, etc.

  9. Types of Haptic Devices Grounded Attached combined

  10. Position Orientation Object Database Collision Detection Geometry Material Contact Information Collision Response Force Torque Haptic Rendering with a Force Display F virtual wall

  11. a c d b Torque Force Torque Force Force Types of Haptic Interactions with 3D Objects: Object-Object Line Segment-Object Point-Object more computation

  12. Haptic Rendering Of 3D Geometric Primitives (point-object interaction)

  13. Haptic Rendering of 3D Objects (point-object interaction) Dx HIP F = k Dx IHIP 3D Object - optimization - rule-based techniques 3D Primitives no problem ! ?

  14. Modeling Choices for 3D Object Representation (point-object interaction) • polygonal • implicit • NURBS • voxel will be covered in this tutorial see my notes for related references

  15. Vertex Edge Polygon Neighbors Vertex Edge Representation of a 3D Polyhedron Database 3D Polyhedron Open Inventor/VRML file

  16. Box II Box I Box III Box IV Key Components of the Rendering Algorithm 1) Bounding-box hierarchy F3 F2 F1 F3 3) Local coherence 2) Contact history

  17. Haptic Rendering of Polygonal Surfaces see Ho et al., 1999 for details

  18. Haptic Display of Surface Details • Haptic smoothing of object surfaces • Rendering of haptic textures • Haptic rendering of surfaces with friction actual shape displayed shape

  19. F Fperturbed h Common Principle: Perturbation of force vector ! Force Shading Friction Texture ref: Mechanics books ref: Phong Shading ref: Bump Mapping N2 N1 N3 h(x,y,z) : texture field A1 A3 A2

  20. s t Haptic Texturing • image-based two-stage mapping Bier & Sloan, 1986 • procedural bump mapping h(x,y,z) Blinn, 1978; Max and Becker, 1994

  21. Haptic Sculpting Force-Reflecting Deformable Models: Real-time FEM Animation/Ergonomics F F Surgical Simulation Web-based haptics for product design and purchase Free-form Deformation

  22. Rigid Body Dynamics: Method (c) is computationally better than (b) !

  23. Recording and Playing-back Haptic Stimuli: - file format - data structure - device independent support - internet protocol - data compression ... Web-based Haptics + Haptics Gear.wrl

  24. production CAE CAM CAD concept Virtual Prototyping with Haptic Feedback Problems in Engineering Design: digital prototype haptic sculpting? • A few problems with current systems: • automated systems can not duplicate the • knowledge and intelligence of an experienced designer. • limits the ability of design engineers to experiment • with different design configurations. • design process is slow, sequential, and non-intuitive. • testing the functionality/ergonomics of a product • is costly and requires many iterations

  25. Benefits of Touch Feedback in Engineering Design: 1 Path planning 2 Assembly sequence 3 Digital Prototyping 4 Functionality & Maintenance 5 Ergonomics areas where haptic feedback can contribute significantly to design process ! However, haptic feedback can be used for • finding the insertion/removal paths of objects • precision mating • planning the sequence of assembling products • guiding/constraining the user during digital sculpting • improving depth perception and resolving visual ambiguities • testing the functionality of products in virtual worlds • designing user friendly interfaces

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