Paper Implicit Volume Haptics

Voxel-Based Haptic Rendering
Using Implicit Sphere Trees

Ruffaldi Emanuele (SSSA), Morris Dan (Microsoft Research), Barbagli Federico (Stanford Univ.), Salisbury Ken(Stanford Univ.) & Bergamasco Massimo (SSSA).

IEEE Haptics 2008

Abstract

Haptic interaction in six degrees of freedom is critical to numerous applications, but is still prohibitively complex for realistic environments. This paper presents an approach to rendering six-degree-of-freedom contact among virtual objects using a novel data structure referred to as an implicit sphere tree. This data structure allows an extremely compact representation of volumetric objects and extremely rapid intersection testing among objects, which broadens the scope of virtual environments that can be rendered in six degrees of freedom at interactive rates. We introduce this data structure, along with appropriate techniques for collision detection and haptic rendering, and demonstrate its efficiency in representing and manipulating complex models.

Citation

Ruffaldi Emanuele, Morris Dan, Barbagli Federico, Salisbury Ken & Bergamasco Massimo (2008). Voxel-Based Haptic Rendering Using Implicit Sphere Trees. In Haptic interfaces for virtual environment and teleoperator systems, 2008. haptics 2008. symposium on (pp. 319-325). doi:10.1109/HAPTICS.2008.4479964

@inproceedings{ruffaldi2008voxel,
author = {Ruffaldi, E. and Morris, D. and Barbagli, F. and Salisbury, K. and Bergamasco, M.},
booktitle = {Haptic interfaces for virtual environment and teleoperator systems, 2008. haptics 2008. symposium on},
doi = {10.1109/HAPTICS.2008.4479964},
month = {March},
pages = {319-325},
title = {Voxel-Based Haptic Rendering Using Implicit Sphere Trees},
year = {2008}
}

Technologies

  • Hardware: Phantom Omni
  • Software: custom volume haptic rendering in C++ using CHAI3D as framework

Paper

PDF

Video

MP4

Acknowledgments

This activity has been funded by the AO Foundation