High-fidelity passive force-reflecting virtual environments

Abstract

Abstract-Passivity theory is applied to the creation of synthetic, complex multidimensional haptic environments. It can be shown that under appropriate conditions, sufficiently high rendering rates can guarantee the passivity of a simulation produced by a haptic device coupled to a discrete-time realization of a nominally passive environment. The creation of a passive, globally defined, virtual environment is either analytically complex or computationally costly. A method is described whereby a passive environment is created from transitions between locally defined force models that encode static conservative force fields. This is applied to the haptic rendering of tool contact with deformable bodies, in which sparse force-deflection responses are used to define local models. Passivity, continuity, and fidelity are provided by response-function interpolation rather than by interpolation of forces, as in previous methods. The paper also includes an illustrative example.

A modular haptic rendering algorithm for stable and transparent 6-DOF manipulation

“…However, the lack of stability guarantees suggests the need for better collision resolution methods. To this regard, recent research in the passivity of sequentially activated force models [20], as well as constraint-based simulation methods with fixed time-stepping [24], [25] seems highly promising. Even in the case of constraint-based simulation, many of the modules of the rendering algorithm presented in this paper (i.e., perceptually based collision detection, contact clustering, linearized contact models, and implicit integration) would be beneficial for enhancing the transparency of the haptic display.…”

“…Hannaford et al [19] have investigated the use of passivity observers and passivity controllers. Mahvash and Hayward [20] have derived conditions for the passivity of a virtual environment where continuous-time passive local force models are activated sequentially. Following those conditions, they can design passive simulations of tool contact with deformable models.…”

Eddy Current Brakes for Haptic Interfaces: Design, Identification, and Control

“…Secondly, if a complex system is broken down into several subsystems, the full system is passive if each subsystem is passive. This allows each subsystem to be investigated individually [1], [7]. All these properties are directly applicable to the design of mechanical virtual environments.…”

Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

“…After this seminal paper, substantial work has appeared on physically based deformable object modelling, simulation and animation in computer graphics and related scientific fields (Cavusoglu et al 2001, 2002, Corso et al 2003, Cotin et al 2000, Debunne et al 1999, Delingette and Ayache 2004, Duriez et al 2002, Kuroda et al 2002, and Mahvash and Hayward 2006; although not all are suited for interactive applications.…”