HAPTEX-Meeting Tampere, Feb. 16-17, 2006 Haptic Rendering / Small Scale Model Guido Böttcher haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549)

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Presentation transcript:

HAPTEX-Meeting Tampere, Feb , 2006 Haptic Rendering / Small Scale Model Guido Böttcher haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) Advancements in the Small Scale Model

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 2

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 3 Small Scale Model Local refinement of physical model Low complexity spring-mass model Computation of force response Update of global model simulation loop Hz deformation loop Hz Interpolation of force haptic loop 1kHz

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 4 Task Groups Dynamic Refinement of Local Geometry Motion Estimation Fingertip Deformation Haptic Interface Coupling

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 5 Dynamic Refinement Adaptive Subdivision-Scheme by discrete curvature estimation 1,2 Data Structures for topological interrogation (quad-edge) and fast inversion Employing haptic sensitivity for refinement levels 3 1 Kobbelt, L., „ 3-subdivision”, 2000 Volkov V., Li L., „Adaptive Triangular Meshes for Cloth Simulation“, 2004 Volkov V., Li L., „Adaptive Triangular Meshes for Cloth Simulation“, Villard J., Borouchaki H., „Adaptive meshing for cloth animation“, Zhang J., Payandeh S., Dill J., „Levels of Detail in Reducing Cost of Haptic Rendering: a Preliminary User Study“, HAPTICS‘03 Haptic Rendering: a Preliminary User Study“, HAPTICS‘03 On-going Subtasks

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 6 Motion Estimation Implementation of prediction techniques Kalman Filtering Adaptive Windowing 1 1 Hayward V., Janabi-Sharifi F., Chen C. „Adaptive Windowing Discrete-Time Velocity Estimation…“, 1997 Discrete-Time Velocity Estimation…“, 1997

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 7 Fingertip Model First implementation using soft-proxy- algorithm 1 Evaluation of different contact models -Analytic models: soft-contact 2, Membrane 3 -Numerical models: particle system 4, FEM 5 On-going Subtasks 1 Barbagli, F. et al., „ Simulating human fingers: a Soft Finger Proxy Model”, Xydas N., Kao I., „Modeling of Contact Mechanics and Friction Limit Surfaces…“, Serina E. „A structural model of the forced compression…“, Reznik D., Laugier C., „Dynamic Simulation and Virtual Control of a Deformable Fingertip“, Kheddar A., Duriez C., „Realistic Haptic Rendering of Interacting Deformable…“, 2006

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 8 Algorithm identify potential contacts compute contact normals generate friction cones compute contact forces Apply to local geometry and fingertip Simulating Deformable Fingertip

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 9 Soft-Contact Model relation between circular contact area a and normal force N the pressure distribution can be computed accordingly

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 10 Experimental verifications Xydas N., Kao I., „Modeling of Contact Mechanics and Friction Limit Surfaces…“, 1999 Measurements of contact radius

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 11 Numerical Model particle system to approximate deformation of the finger one coupled system of ODEs for local geometry and fingertips

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 12  3-Scheme Properties number of triangles increases only by factor 3 always consistent triangles cracks are smaller between refinement levels  advantage in adaptive refinement  No temporary triangles, refinement history not necessary

haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./ Haptic Rendering / Small Scale Model Guido Böttcher 13 Subdivision Criteria initial refinement level for accurate contact computation local cloth’s curvature determination at each shared edge