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Computational Visual Media 2015, 1(3): 253-265 https://doi.org/10.1007/s41095-015-0023-3
Research Article | Open Access | Issue | Published: 06 November 2015

Stable haptic interaction based on adaptive hierarchical shape matching

Show Author's Information Yuan Tian1( ),  Yin Yang2,  Xiaohu Guo1,  Balakrishnan Prabhakaran1
University of Texas at Dallas, Richardson, TX 75080, USA.
University of New Mexico, Albuquerque, NM 87131, USA.
Keywords:
deformation, shape matching, haptic rendering, multi-resolution
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Tian Y, Yang Y, Guo X, et al. Stable haptic interaction based on adaptive hierarchical shape matching. Computational Visual Media, 2015, 1(3): 253-265. https://doi.org/10.1007/s41095-015-0023-3
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Abstract Full text Electronic supplementary material About this article

In this paper, we present a framework allowing users to interact with geometrically complex 3D deformable objects using (multiple) haptic devices based on an extended shape matching approach. There are two major challenges for haptic-enabled interaction using the shape matching method. The first is how to obtain a rapid deformation propagation when a large number of shape matching clusters exist. The second is how to robustly handle the collision response when the haptic interaction point hits the particle-sampled deformable volume. Our framework extends existing multi-resolution shape matching methods, providing an improved energy convergence rate. This is achieved by using adaptive integration strategies to avoid insignificant shape matching iterations during the simulation. Furthermore, we present a new mechanism called stable constraint particle coupling which ensures consistent deformable behavior during haptic interaction. As demonstrated in our experimental results, the proposed method provides natural and smooth haptic rendering as well as efficient yet stable deformable simulation of complex models in real time.


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Electronic supplementary material
About this article

Stable haptic interaction based on adaptive hierarchical shape matching

Show Author's information Yuan Tian1( ), Yin Yang2, Xiaohu Guo1, Balakrishnan Prabhakaran1
University of Texas at Dallas, Richardson, TX 75080, USA.
University of New Mexico, Albuquerque, NM 87131, USA.

Abstract

In this paper, we present a framework allowing users to interact with geometrically complex 3D deformable objects using (multiple) haptic devices based on an extended shape matching approach. There are two major challenges for haptic-enabled interaction using the shape matching method. The first is how to obtain a rapid deformation propagation when a large number of shape matching clusters exist. The second is how to robustly handle the collision response when the haptic interaction point hits the particle-sampled deformable volume. Our framework extends existing multi-resolution shape matching methods, providing an improved energy convergence rate. This is achieved by using adaptive integration strategies to avoid insignificant shape matching iterations during the simulation. Furthermore, we present a new mechanism called stable constraint particle coupling which ensures consistent deformable behavior during haptic interaction. As demonstrated in our experimental results, the proposed method provides natural and smooth haptic rendering as well as efficient yet stable deformable simulation of complex models in real time.

Keywords: deformation, shape matching, haptic rendering, multi-resolution

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Publication history
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Publication history

Revised: 27 August 2015
Accepted: 29 August 2015
Published: 06 November 2015
Issue date: September 2015

Copyright

© The Author(s) 2015

Acknowledgements

This material is based upon work supported by the National Science Foundation under Grant No. 1012975. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.

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