DOI QR코드

DOI QR Code

Real-Time Haptic Rendering for Multi-contact Interaction with Virtual Environment

가상현실을 위한 다중 접촉 실시간 햅틱 랜더링

  • 이경노 (한국과학기술원 기계공학) ;
  • 이두용 (한국과학기술원 기계공학)
  • Published : 2008.07.01

Abstract

This paper presents a real-time haptic rendering method for multi-contact interaction with virtual environments. Haptic systems often employ physics-based deformation models such as finite-element models and mass-spring models which demand heavy computational overhead. The haptic system can be designed to have two sampling times, T and JT, for the haptic loop and the graphic loop, respectively. A multi-rate output-estimation with an exponential forgetting factor is proposed to implement real-time haptic rendering for the haptic systems with two sampling rates. The computational burden of the output-estimation increases rapidly as the number of contact points increases. To reduce the computation of the estimation, the multi-rate output-estimation with reduced parameters is developed in this paper. Performance of the new output-estimation with reduced parameters is compared with the original output-estimation with full parameters and an exponential forgetting factor. Estimated outputs are computed from the estimated input-output model at a high rate, and trace the analytical outputs computed from the deformation model. The performance is demonstrated by simulation with a linear tensor-mass model.

References

  1. 이경노, 이두용, "자전거 시뮬레이터에서 블록 시간을 최소화하기 위한 통신 프로토콜의 설계" 제어 자동화 시스템공학 논문지, vol. 6, no. 12, pp. 1099-1105, 2000
  2. 이문환, 이두용, "안정된 햄틱 인터페이스를 위한 비선형 가상커플링" 제어 자동화 시스템공학 논문지, vol. 9, no. 8, pp.610-615, 2003
  3. W. Chou and T. Wang, "Human-computer interactive simulation for the training of minimally invasive neurosurgery," in Proc. IEEE Int. Conf. SMC, vol. 2, 5-8 Oct. 2003, pp. 1110-1115
  4. C. Basdogan, C.-H. Ho, and M. A. Srinivasan, "Virtual environments for medical training: graphical and haptic simulation of laparoscopic common bile duct exploration," IEEE/ASME Trans. on Mechatronics, vol. 6, issue 3, pp. 269-285, Sept. 2001 https://doi.org/10.1109/3516.951365
  5. S. Y. Yi, H. S. Woo, W. J. Ahn, J. Y. Kwon, and D. Y. Lee, "New colonoscopy simulator with improved haptic fidelity," Advanced Robotics, vol. 20, no. 3, pp. 349-365, 2006 https://doi.org/10.1163/156855306776014330
  6. H. Delingette, "Toward realistic soft-tissue modeling in medical simulation," Proceedings of the IEEE, vol. 86, issue 3, pp. 512-523, March 1998
  7. H. Cakmak, U. Kuhnapfel, "Animation and simulation techniques for VR-training systems in endoscopic surgery," Proc. EGCAS 2000, pp. 173-185
  8. R. Balaniuk and K. Salisbury, "Dynamic simulation of deformable objects using the Long Elements Method," IEEE Proc. the 10th Symp. On Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 58-65, 2002
  9. R. Balaniuk and K. Salisbury, "Soft-tissue simulation using the radial elements method," Int. Symp. on Surgery Simulation and Soft Tissue Modeling(IS4TM), Juan-Les-Pins, France, pp. 48-58, 2003 https://doi.org/10.1007/3-540-45015-7_5
  10. S.-Y. Kim, Real-time volume haptic rendering with S-chain model, Ph.D. thesis. 2004
  11. Y. Zhuang and J. Canny, "Haptic interaction with global deformation," in Proc. IEEE Int. Conf. Robot. Autom., vol. 3, pp. 2428-2433, April 24-28, 2000
  12. G. Picinbono, J-C. Lombardo, H. Delingette, and N. Ayache "Improving realism of a surgery simulator: linear anisotropic elasticity, complex interactions and force extrapolation," The Journal of Visualization and Computer Animation, vol. 13, issue 3, pp. 147-167, 2002 https://doi.org/10.1002/vis.257
  13. K. Lee and D. Y. Lee, "MIMO output estimation with reduced multirate sampling for real-time haptic rendering," IEEE Trans. Robotics, vol. 23, no 3, pp. 481-493, June 2007 https://doi.org/10.1109/TRO.2007.895069
  14. L. J. Love and W. J. Book, "Force reflecting teleoperation with adaptive impedance control," IEEE Trans. SMC-B, vol. 34, no. 1, pp. 159-165, 2004
  15. P. Dupont, T. Schulties, P. Millman, and R. D. Howe, "Automatic identification of environment haptic properties," Presence: Teleoper: Virtual Environ., vol. 8, no. 4, pp. 392-409, Aug. 1999
  16. N. Diolaiti, C. Melchiorri, and S. Stramigioli, "Contact impedance estimation for robotic systems," IEEE Trans. Robot., vol. 21, no. 5, pp. 925-935, 2005 https://doi.org/10.1109/TRO.2005.852261
  17. G. C. Goodwin and K. S. Sin, Adaptive Filtering, Prediction and Control, Englewood Cliffs, NJ : Prentice Hall, 1984
  18. L. A. Jones, "Kinesthetic Sensing," Human and Machine Haptics, MIT Press, 2000
  19. H. Z. Tan, N. I. Durlach, Y. Shao, and M. Wei, "Manual resolution of compliance when work and force cues are minimized," DSC-Vol. 49, Advances in Robotics, Mechatronics and Haptic Interfaces, pp. 99-104, 1993