Yan Zhuang and John Canny. Haptic interaction with global deformations. In Proceedings of the IEEE International Conference on Robotics and Automation, 2000.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....quite the opposite is true. The force response of a contact interaction with localized deformation essentially depends on two inputs: the contact area and the distribution of deflection over that area. A contact that causes local deformation cannot be properly simulated by present approaches [1, 3, 5, 18, 4, 8, 16, 2]. In all these approaches, the tool force must be computed from forces acting at vertices located in a contact region determined by interference detection. The point contact region may contain only one vertex, or a few vertices, according to arbitrary factors such as element size and shape. The ....

Zhuang, Y., Canny, J. 2000. Haptic Interaction with Global Deformations. Proc. IEEE Robotics and Automation Conference, IEEE, Vol.3, pp. 2428--2433.

....loop in less than 1ms is difficult. To reduce the amount of computation yet maintain plausible results, effort has been put into finding a better trade off between simulation accuracy and update rate. For example, 10] used finite spheres as an approximation to FEM in a local area; 11] [12] interpolated forces between calculated forces from a low update rate deformation model to feed the demand of high update rate haptic simulation. Another approach to speed up run time simulation is to isolate certain procedures in real time computation, precompute them and later combine ....

Zhuang, Y. and Canny, J., "Haptic Interaction with Global Deformations", Proceedings of the 2000 IEEE International Conference on Robotics & Automation, pp. 2428-2433.

....equations imposes performance difficulties to apply FEM to real time interactive haptic feedback applications. Some work has been done on FEM models to make a trade off between accuracy and update rate. For example, 14] used finite spheres as an approximation to FEM in a local area; 15] and [16] interpolated forces between calculated forces from a low update rate deformation model to feed the demand of high update rate haptic simulation. The other approach to speed up run time simulation is to isolate some procedures of the real time computation, precompute them and later combine ....

Y. Zhuang and J. Canny, "Haptic Interaction with Global Deformations", Proceedings of the 2000 IEEE International Conference on Robotics & Automation, pp. 2428-2433.

....The model is linear but varies over time. Simulation results are compared to experimental measurements. Deformable models in VESTA (Virtual Environments for Surgical Training and Augmentation) at the University of California are computed with finite elements with mass lumping [131] as in [136]. The non linear material law is based on Mooney Rivlin and a Neo Hookean model. The computation is sped up with a The project is a joint cooperation between the University of California, San Francisco, Berkeley and Santa Barbara. geometrically adaptive scheme. The group is also investigating ....

Y. Zhuang and J. Canny. Haptic interactions with global deformations. In International Conference on Robotics and Automation, pages 2428--2433, San Francisco, USA, April 2000. 142

.... be used for rapid approximation of the global deformation due to contact between two or more elastic bodies, chains, or mechanisms (see also [5] which models the local compliance, but not global effects) There has been significant work on interactive deformable objects recently [6] 7] 8] [9], 10] 2] 11] Our approach exploits recently developed capacitance matrix algorithms for interactive simulation of linear elastostatic objects [7] 12] 11] see also [8] 13] High speed is obtained by precomputing discrete Green s functions [14] of the model, which intuitively provide ....

Yan Zhuang and John Canny, "Haptic Interaction with Global Deformations," in Proceedings of the IEEE International Conference on Robotics and Automation, 2000.

....derived in more generic geometric cases, as well as in the presence of nonlocal influences such as for multiple changing contacts, e.g. with surgical tools. Debunne et al. 11] presented a space time approach for simulating a hierarchical multirate dynamic linear strain model. Zhuang and Canny [34] use a dynamic lumped finite element model exhibiting nonlinear (Green s) strain. It is capable of being time stepped at graphics frame rates for sufficiently soft objects using an explicit integration scheme. Interactive simulation of dynamic elastic models exclusively for superquadric shapes was ....

Yan Zhuang and John Canny. Haptic interaction with global deformations. In Proceedings of the IEEE International Conference on Robotics and Automation, 2000.

No context found.

Yan Zhuang and John Canny. Haptic interaction with global deformations. In Proceedings of the IEEE International Conference on Robotics and Automation, 2000.

No context found.

Zhuang, Y., Canny, J. 2000. Haptic Interaction with Global Deformations. Proc. IEEE Robotics and Automation Conference, IEEE, Vol.3, pp. 2428--2433.

No context found.

Y. Zhuang and J. Canny. Haptic interactions with global deformations. In International Conference on Robotics and Automation, pages 2428--2433, San Francisco, USA, April 2000.

No context found.

Zhuang, Y., Canny, J. 2000. Haptic Interaction with Global Deformations. Proc. IEEE International Conference on Robotics and Automation, pp. 2428--2433.

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