Haptic Rendering: Foundations, Algorithms, and Applications (Hardcover)

Preface -- Introduction -- I Fundamentals and Devices -- 1 Perceiving Object Properties through a Rigid Link -- 1.1 Surface Roughness: Direct vs. Indirect Exploration -- 1.2 Effects of a Rigid Link on Other Object Properties -- 1.3 Object Identification: Direct vs. Indirect Exploration -- 1.4 Intersensory Influences via Indirect Touch -- 1.5 Rendered Textures -- 1.6 Implications for Virtual Objects -- 2 Multi-Sensory Interactions -- 2.1 Introduction to Crossmodal Congruency -- 2.2 The CrossmodalCongruency Task -- 2.3 Using the Crossmodal Congruency Task -- 2.4 Using the Crossmodal Congruency Task -- 2.5 Conclusion -- 3 Design Issues in Haptic Devices -- 3.1 Towards Full-Body Virtual Touch -- 3.2 SensoryModes and Interface Devices -- 3.3 Locomotion Interfaces -- 3.4 Desktop Displays -- 3.5 Flexible Surface Displays -- 3.6 Summary -- 4 Rendering for Multifinger Haptic Devices -- 4.1 Literature Review -- 4.2 Multifinger Haptic Perception -- 4.3 Design of a Multifinger Haptic Device -- 4.4 Multifinger Rendering Method -- 4.5 FutureWork -- 5 Locomotion Interfaces and Rendering -- 5.1 Locomotion InterfaceDesigns -- 5.2 Locomotion Rendering -- 5.3 Discussion -- 6 Variable Friction Haptic Displays -- 6.1 Human Perception of Friction -- 6.2 Friction Reduction Theory -- 6.3 Variable Friction Devices -- 6.4 Friction Reduction Measurements -- 6.5 Friction Patterns toMimic Textures -- 6.6 Multidimensional Scaling -- 6.7 Summary -- 7 Stability of Haptic Displays -- 7.1 Definitions -- 7.2 Designing for Passivity -- 7.3 PassiveRendering of a VirtualWall -- 7.4 Extensions to the Passivity Framework -- 7.5 ControlMethods -- 7.6 Extending Z-Width -- 7.7 Summary -- II Rendering Techniques -- 8 Introduction to Haptic Rendering Algorithms -- 8.1 Definition of the Rendering Problem -- 8.2 Components of a Rendering Algorithm -- 8.3 Direct Rendering vs. Virtual Coupling -- 8.4 Modeling the Tool and the Environment -- 8.5 Multirate Algorithm -- 9 Overview on Collision and Proximity Queries -- 9.1 ProblemDefinitions -- 9.2 Convex Polytopes -- 9.3 General PolygonalModels -- 9.4 Penetration Depth Computation -- 9.5 Volumetric Representations -- 9.6 Spline and Algebraic Objects -- 9.7 DeformableModels -- 9.8 Dynamic Queries -- 9.9 Multiresolution Techniques -- 9.10 Large Environments -- 9.11 Proximity Query Packages -- 10 Collision Detection for Three-DOF Rendering -- 10.1 RelatedWork -- 10.2 A Fast Proximity Query Algorithm for 3-DOF Haptic Interaction -- 10.3 Implementation Issues -- 10.4 System Performance -- 10.5 Conclusion -- 10.6 Acknowledgments -- 11 Voxel-Based Collision Detection for Six-DOF Rendering -- 11.1 AlgorithmOverview -- 11.2 Voxel Data Structures -- 11.3 Geometrical Awareness -- 11.4 Temporal Coherence -- 11.5 Rendering with Virtual Coupling -- 11.6 Applications and Experiments -- 11.7 Discussion -- 12 Continuous Collision Detection -- 12.1 Why Continuous Collision Detection? -- 12.2 Arbitrary In-BetweenMotions -- 12.3 Interval Arithmetic -- 12.4 Elementary Continuous Collision Detection -- 12.5 Continuous Overlap Tests for Bounding Volumes -- 12.6 Conclusion -- 13 Contact Levels of Detail -- 13.1 Psychophysical Foundations -- 13.2 Approaches to Multiresolution Collision Detection -- 13.3 Data Structure of CLODs -- 13.4 Sensation-Preserving Simplification -- 13.5 Multiresolution Contact Queries -- 13.6 Experiments -- 13.7 Discussion -- 14 Physically Based Haptic Synthesis -- 14.1 Haptic Synthesis as a Means for Passivity -- 14.2 Friction -- 14.3 Damage -- 14.4 Elastic Deformation -- 14.5 Texture -- 14.6 Shocks -- 14.7 Conclusion -- 15 Three-Degree-of-Freedom Rendering -- 15.1 Human-Machine Coupling -- 15.2 Single-Point Rendering of 3D Rigid Objects -- 15.3 Surface Details: Smoothing, Friction, and Texture -- 15.4 Summary and Future -- 16 Six-Degree-of-Freedom Rendering of Rigid Environments -- 16.1 Overview -- 16.2 Six-Degree-of-Freedom God-Object Simulation -- 16.3 Constraint-Based Force Computation -- 16.4 Haptic Surface Properties -- 16.5 Results and Discussion -- 16.6 Summary -- 17 Rendering of Spline Models -- 17.1 The Spline Representation -- 17.2 Distance and Orthogonal Projection -- 17.3 Local Minima in Distance versus the Virtual Proxy -- 17.4 3-DOF Haptic Rendering of Spline Models -- 17.5 Direct ParametricTracing -- 17.6 Stability of Numerical Closest Point Methods -- 17.7 6-DOF Haptic Rendering of Spline Models -- 17.8 Conclusion -- 18 Rendering of Textured Objects -- 18.1 PerceptualMotivations -- 18.2 Three-DOF Haptic Texture Rendering -- 18.3 Texture ForceModel -- 18.4 Penetration Depth between TexturedModels -- 18.5 Experiments -- 18.6 Discussion -- 19 Modeling Deformation of Linear Elastostatic Objects -- 19.1 Motivations for Linear Elastostatic Models -- 19.2 Linear Elastostatic Boundary Model Preliminaries -- 19.3 Fast Global Deformation Using Capacitance Matrix Algorithms (CMAs) -- 19.4 Capacitance Matrices as Local Buffer Models -- 19.5 Surface Stiffness Models for Point-Like Contact -- 19.6 Results -- 19.7 Summary -- 20 Rendering of Frictional Contact with Deformable Environments -- 20.1 Contact and Friction Models -- 20.2 Non-Smooth Dynamics for Deformable Objects -- 20.3 Integration Schemes -- 20.4 Building Contact Space -- 20.5 Solving Strategy -- 20.6 Haptic Rendering -- 20.7 Examples -- 20.8 Conclusion -- 21 Measurement-Based Modeling for Haptic Rendering -- 21.1 Literature Review -- 21.2 Developing and Rendering a Measurement-Based Model -- 21.3 Example Application: Tapping on Rigid Surfaces -- 21.4 Example Application: Cutting Deformable Surfaces -- 21.5 Summary -- III Applications -- 22 Virtual Prototyping -- 22.1 Brief State of the Art -- 22.2 Overview -- 22.3 The Stringed Haptic Workbench -- 22.4 TheMixed-Prop -- 22.5 Putty Application?An Automotive Virtual Prototyping Application -- 22.6 Conclusion -- 23 Haptics for Scientific Visualization -- 23.1 Lessons from Haptic-Enabled Visualization Applications -- 23.2 Useful Techniques for Haptic Display in Scientific Visualization -- 23.3 Summary -- 24 Haptics in Medical Applications -- 24.1 Overview -- 24.2 Visuo-Haptic Segmentation of Radiological Data -- 24.3 Immersive Virtual-Reality-Based Hysteroscopy Training -- 24.4 Multimodal Augmented Reality for Open Surgery Training -- 25 The Role of Haptics in Physical Rehabilitation -- 25.1 Robotic Systems for Physical Rehabilitation -- 25.2 Specifics of Haptic Feedback for the Disabled -- 25.3 Safety Issues in Haptics for Rehabilitation -- 25.4 Looking at the Future -- 26 Modeling and Creative Processes -- 26.1 Case Studies of Existing Systems -- 26.2 Haptic-Enhanced Painting with 3D Deformable Brushes -- 26.3 Haptic Modeling and 3D Painting -- 26.4 Discussion -- 26.5 FutureWork -- Bibliography -- Index.