Haptic Rendering Beyond Object Shapes

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Haptic RenderingBeyond Object Shapes

• In Lee
• inism_at_postech.ac.kr
• POSTECH

2
System

• Intel Pentium4 CPU 3.2GHz
• DDR2 SDRAM 1GB
• nVIDIA GeForce6800 256MB
• MS Visual Studio C 7.1.3088 (.NET 2003)
• Force Dimension Omega

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Implementation

• Thin object
• Checked nearest plane first

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Implementation

• Parallel plane
• Checked whether candidate APs normal is same
  with APs normal or not

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Implementation

• Friction
• Static friction
• if(fs new GO to HIP gt old GO to new GO)then
  new GO old GO
• Dynamic friction
• new GO (1 a) new GO a old GOwhere a
  fd new GO to HIP / old GO to new GO if(a gt 1)
  then a 1

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Assessment - movement

• Fall through
• Rarely happened
• Friction
• It was good at simple surfaces, but not good at
  bumped surfaces

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Assessment refresh rate