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Collision Response in Haptics and Virtual Reality Applications
ABSTRACT
In order to handle haptic applications, collision algorithms have also to calculate a collision response, which is useful in giving force feedback by means of a haptic interface. This module takes the information generated by collision detection and calculates the specific parameters required by the haptic control software: a contact normal vector and the penetration between the two objects. Due to our haptic has only 3DOF, only forces are calculated so, thanks to these parameters the control software can calculate the force feedback using a spring-damper contact model.
Haptic technology is quite recent and therefore in many cases it is difficult to simulate real contacts or interactions with a high sensation of realism. Collision response methods that calculate the force-feedback tend to cause haptic instabilities when the normal direction changes abruptly. In consequence, collision or contact events are often difficult to render properly in sharp corners by means of haptic devices. This work describes a collision response method which not only provides users with a stable force feedback, but also a comfortable and convincing haptic interaction. The experimental results show that this approach leads to a smoother force evolution which manages to avoid discontinuities and enhances the quality in the interaction with corners.
PAPERS
Books:
Hernantes, J., Díaz, I., Borro, D., and Gil, J.J., “Effective Haptic Rendering Method for Complex Interactions”, Book Chapter in Haptics Rendering and Applications (ISBN 978-953-307-897-7), pp. 115-130. Ed. InTech, Rijeka, Croacia. January 2012. (Book URL).
Hernantes, J., Interacción en Sistemas Hápticos Multisensoriales: Respuesta de Colisión y Mejoras de Usabilidad (ISBN 84-8081-151-X), PhD Thesis Dissertation in December 2008. Ed. Universidad de Navarra (October 2011). (pdf).
Journals
Díaz, I., Hernantes, J., Mansa, I., Lozano, A., Borro, D., Gil, J.J., and Sánchez, E., "Influence of Multisensory Feedback on Haptic Accesibility Tasks", Virtual Reality, Special Issue on Multisensory Interaction in Virtual Environments, Vol. 10, No. 1, Pp. 31-40. May 2006. (pdf).
Conferences:
Hernantes, J., Borro, D., and García-Alonso, A., "Stable Haptic Response for Complex Interactions", Proceedings of the 2nd International Conference on Computer Graphics Theory and Applications (GRAPP'07), pp. 146-153. Barcelona, Spain. March 8-11, 2007. (pdf).
Posters:
Hernantes, J., Díaz, I., Álvarez, H., and Borro, D., "Stable Collision Response Method in Complex Interactions", Poster Proceedings of the Third Workshop in Virtual Reality Interactions, and Physical Simulations (VRIPHYS'06), pp. 123-124. Móstoles, Madrid, Spain. November 6-7, 2006. (pdf).
VIDEOS
Video 01: Forces with an static model of ~150K triangles and mobile of ~2K - MPEG4 (300 KB)
Video 02: Forces with an static model of ~150K triangles and mobile of ~150 - MPEG4 (880 KB)
Video 03: Torques with an static model of 6K triangles and mobile of 1.5K - WM9 (976 KB)
Video 04: Torques with an static model of 100K triangles and mobile of 2K - WM9 (1.9 MB)
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