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Proceedings Paper

Physically realistic haptic interaction with dynamic virtual worlds
Author(s): Sundar R. Vedula; David Baraff
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Paper Abstract

There has been increased interest in recent years in the use of the sensation of force as a supplement to visual and auditory feed-back normally found in virtual environments. To produce a realistic feel of interacting with moving synthetic objects, the interactions between the objects and those between the user and the environment need to be based on physical laws. In this work, we present techniques for interaction of a human with a dynamic virtual environment through the haptic channel, specifically by integrating an articulated force feedback arm with a graphical physically based interactive simulation system. A distributed simulation and control model, to separate two fundamental requirements on graphics and force control is used. We describe techniques used for elegant force display in a dynamic environment, and a physically based algorithm to model surface friction between the probe and the objects. Three schemes for a local model update are also presented and compared.

Paper Details

Date Published: 12 December 1997
PDF: 8 pages
Proc. SPIE 3206, Telemanipulator and Telepresence Technologies IV, (12 December 1997); doi: 10.1117/12.295590
Show Author Affiliations
Sundar R. Vedula, Carnegie Mellon Univ. (United States)
David Baraff, Carnegie Mellon Univ. (United States)

Published in SPIE Proceedings Vol. 3206:
Telemanipulator and Telepresence Technologies IV
Matthew R. Stein, Editor(s)

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