Configuration-Based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation

Wang, Dangxiao; Zhang, Xin; Zhang, Yuru; Xiao, Jing

doi:10.1109/toh.2012.63

Cited by 50 publications

(54 citation statements)

References 34 publications

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“…For accurate collision response, a configuration-based optimization method [23] is used to compute a non-penetrated configuration for the graphic tool contacting the deformed objects, and to compute the six-dimensional force/torque response to the haptic tool.…”

Section: Overview Of Our 6-dof Haptic Rendering Methodsmentioning

confidence: 99%

“…In this approach, the avatar of the haptic device, which we call the haptic tool, and its graphic display, which we call the graphic tool, are treated separately. The constraint-based approach aims to constrain the pose of the graphic tool to be free of penetration, while the haptic tool can penetrate into objects [23]. Duriez et al introduced a constraint-based method for simulation of deformation due to contacts [4], [5].…”

Section: Related Workmentioning

confidence: 99%

“…In each simulation step, it first computes the deformed configuration of an object (e.g., a tongue or gingiva) and then based on this deformed configuration, compute the configuration of the graphic tool. With our approach, there is no penetration between the graphic tool and the objects in their interaction, and the optimization of the graphic tool's configuration can rely on fast existing methods [23]. Our method can maintain non-penetration hybrid contacts between a complex shaped tool and both a rigid and a deformable object.…”

Section: Decoupled Computation Of Deformation and Tool Optimizationmentioning

confidence: 99%

“…Thus, we choose to represent objects based on a sphere tree model (for rigid objects) and extend the representation to a sphere tree model with springs (for deformable objects). We aim to take full advantage of the simplicity of spheres to achieve high efficiency, and to preserve the capability to formulate non-penetration constraints for optimization-based collision response computation [23].…”

Section: Sphere-tree and Collision Detectionmentioning

confidence: 99%

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Haptic Simulation of Organ Deformation and Hybrid Contacts in Dental Operations

Wang

Shi

Liu

et al. 2014

IEEE Trans. Haptics

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There are two main challenges in simulating bi-manual dental operations with six-degrees-of-freedom (6-DoF) haptic rendering. One is to simulate large deformation and force response of a tongue under multi-region contacts with a dental mirror, and the other is to simulate the force response when a dental probe inserts into a narrow periodontal pocket, which leads to simultaneous contacts of different types between the probe and both rigid and deformable objects (i.e., a rigid tooth and its surrounding deformable gingiva), which we call hybrid contacts, as well as frequent contact switches. In this paper, we address both challenges. We first introduce a novel method for modeling deformation based on a sphere-tree representation of deformable objects. A configuration-based constrained optimization method is utilized for determining the six-dimensional configuration of the graphic tool and the contact force/torque. This approach conducts collision detection, deformation computation, and tool configuration optimization very efficiently, avoids inter-penetration, and maintains stability of haptic display without using virtual coupling. To simulate the force response due to fine manipulation of the probe inside a narrow periodontal pocket, we propose an efficient method to simulate the local deformation of the gingiva and stable haptic feedback under frequent contact switches. Simulations on typical dental operations were carried out to validate the efficiency and stability of our approach.

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Section: Overview Of Our 6-dof Haptic Rendering Methodsmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Decoupled Computation Of Deformation and Tool Optimizationmentioning

confidence: 99%

Section: Sphere-tree and Collision Detectionmentioning

confidence: 99%

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Haptic Simulation of Organ Deformation and Hybrid Contacts in Dental Operations

Wang

Shi

Liu

et al. 2014

IEEE Trans. Haptics

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“…Constrained dynamics is not a novel problem to computational haptics, as it is a corner stone for accurate and robust simulation of frictional contact [4], [11], [16], [19], [12]. However, we have observed that typical solvers for contact constraints do not work well with the deformation constraints of nonlinear skin.…”

Section: Introductionmentioning

confidence: 98%

Efficient nonlinear skin simulation for multi-finger tactile rendering

Pérez¹,

Cirio²,

Lobo³

et al. 2016

2016 IEEE Haptics Symposium (HAPTICS)

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Recent advances in tactile rendering span, among others, wearable cutaneous interfaces, tactile rendering algorithms, or nonlinear soft skin models. However, the adoption of these advances for multi-finger tactile rendering of dexterous grasping and manipulation is hampered by the computational cost incurred with nonlinear skin models when applied to the full hand. We have observed that classic constrained dynamics solvers, typically designed for contact mechanics, fail to perform efficiently on deformation constraints of nonlinear skin models. In this paper, we propose a novel constrained dynamics solver designed to perform well with highly nonlinear deformation constraints. In practice, we achieve more than 10x speed-up over previous approaches, and as a result we enable multi-finger tactile rendering of manipulation actions that capture the nonlinearity of skin

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