Research Papers

Proxy Position Prediction Based Continuous Local Patch for Smooth Haptic Rendering

[+] Author and Article Information
Yong Liu

State Key Laboratory of Virtual Reality Technology and Systems,  Beihang University, Beijing 100191, China; Robotics Institute,  Beihang University, Beijing 100191, Chinayong980928@gmail.com

Wusheng Chou1

State Key Laboratory of Virtual Reality Technology and Systems,  Beihang University, Beijing 100191, Chinawschou@buaa.edu.cn

Shumin Yan

Robotics Institute,  Beihang University, Beijing 100191, China


Corresponding author.

J. Comput. Inf. Sci. Eng 12(3), 031004 (Aug 06, 2012) (9 pages) doi:10.1115/1.4007170 History: Received September 19, 2011; Revised July 15, 2012; Published August 06, 2012; Online August 06, 2012

The edge effect is a problem that has to be tackled when performing haptic interaction with discontinuous primitives. In this paper, an innovated algorithm is designed to render a smooth haptic feedback force with a locally constructed C1 continuous Gregory patch. The continuous Gregory patch is generated from n-sided polygon, which is determined by a real-time contact region prediction method. The contact region prediction algorithm, derived from the dynamic model of the haptic device, is able to deal with the inconsistency of the local nearest point and global nearest point when obtaining the potential contact region. The parametric patch can be achieved in three steps employing boundary generation, height model interpolation, and Gregory patch construction. For a better shape preserving character, the height model of the contact region is respected by the parametric Gregory patch construction algorithm. The generated patch is continuous on boundaries and can render continuous feedback force as the proxy point transits between different patches. Since the presented scheme needs fewer primitives than conventional method, it consumes less memory and runs more efficiently in computation. The experimental results have shown that the smooth haptic force can be achieved with the proposed method. Meanwhile, the motion predictor also presents a good performance in the validating experiment.

Copyright © 2012 by American Society of Mechanical Engineers
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Figure 1

Definition of penetration depth

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Figure 2

Flow chart of the smooth haptic rendering algorithm

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Figure 3

Local nearest point and global nearest point of the predicted point

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Figure 4

Method on finding the local nearest point

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Figure 5

Definition of the octree

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Figure 6

Height interpolation between two adjacent primitives

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Figure 7

Corner of polygon in Gregory patch construction

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Figure 8

Coordinate mapping scheme at a polygonal corner

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Figure 9

Local smooth patch generated in the contact region

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Figure 10

Setup of the experimental platform

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Figure 11

Contact position prediction results

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Figure 12

Track of the haptic proxy point and feedback force




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