Graduate Programs in Computer Science A Soft Hand Model for Physically-based Manipulation of Virtual Objects Jan Jacobs Group Research.

Slides:

Advertisements

Similar presentations

Advertisements

SEMINAR ON VIRTUAL REALITY 25-Mar-17

Robust Part-Based Hand Gesture Recognition Using Kinect Sensor

Overview Class #5 (Thurs, Jan 30) Rigid body contact –Read B&W course notes on Collision and Contact Constraint formulation Lagrangian Reduced coordinate.

1 NIW Meeting, Udine, February INRIA advancement report A. Lécuyer, G. Cirio, L. Terziman, M. Marchal (INRIA) NIW Project, Udine, February.

A Robust Method of Detecting Hand Gestures Using Depth Sensors Yan Wen, Chuanyan Hu, Guanghui Yu, Changbo Wang Haptic Audio Visual Environments and Games.

Short Paper: Characteristics of Perception of Stiffness by Varied Tapping Velocity and Penetration in Using Event-Based Haptic Yuto Ikeda, Shoichi Hasegawa.

Meshless Elasticity Model and Contact Mechanics-based Verification Technique Rifat Aras 1 Yuzhong Shen 1 Michel Audette 1 Stephane Bordas 2 1 Department.

Move With Me S.W Graduation Project An Najah National University Engineering Faculty Computer Engineering Department Supervisor : Dr. Raed Al-Qadi Ghada.

Efficient Moving Object Segmentation Algorithm Using Background Registration Technique Shao-Yi Chien, Shyh-Yih Ma, and Liang-Gee Chen, Fellow, IEEE Hsin-Hua.

UNC Chapel Hill M. C. Lin COMP259: Physically-Based Modeling, Simulation & Animation Tues/Thur 12:30pm – 1:45pm (SN 011)

Strategic Directions in Real- Time & Embedded Systems Aatash Patel 18 th September, 2001.

Modelling Realistic Water & Fire Sérgio Leal Socrates/Erasmus student at: AK Computer Graphics Institute for Computer Graphics and Vision Technical University.

Welcome to the world of G.V.Ram Mohan Reddy G.V.Ram Mohan Reddy.

ALARA Planning and Teaching Tool Based on Virtual-Reality Technologies Di Zhang 1, X. George Xu 1, D. Hussey 2, S.Bushart 2 1 Nuclear Engineering and Engineering.

Adaptive 3D Web Sites by by Luca Chittaro and Roberto Ranon MAJ(P) Charles E. Grindle 7 Dec 05.

People in multimedia Systems. Multimedia Systems Multimedia systems are designed by a team of people who specialise in a particular field, For example:

FastLSM: Fast Lattice Shape Matching for Robust Real-Time Deformation Alec RiversDoug James Cornell University.

Introduction to Haptic Rendering JPL - Virtual Environments Laboratory California Institute of Technology ( Cagatay Basdogan,

SUBMITTED TO SUBMITTED BY Lect. Sapna Gambhir Neha MNW-888-2k11 CN.

DYNAMICS Part I Physics Engine By Willis (The Magnificent) Louie Fei (The Coyote) Liao.

UT DALLAS Erik Jonsson School of Engineering & Computer Science FEARLESS engineering Stable Real-Time Deformations Authors: Matthias Muller, Julie Dorsey,

2011/08/09 Sunwook Bae. Contents Paper Info Introduction Overall Architecture Resource Management Evaluation Conclusion References.

Facial animation retargeting framework using radial basis functions Tamás Umenhoffer, Balázs Tóth Introduction Realistic facial animation16 is a challenging.

Zhengyou Zhang Microsoft Research Digital Object Identifier: /MMUL Publication Year: 2012, Page(s): Professor: Yih-Ran Sheu Student.

KinectFusion : Real-Time Dense Surface Mapping and Tracking IEEE International Symposium on Mixed and Augmented Reality 2011 Science and Technology Proceedings.

Computing & Information Sciences Kansas State University Lecture 27 of 42CIS 636/736: (Introduction to) Computer Graphics Lecture 27 of 42 Wednesday, 02.

Human interface Section, P&I Lab, Titech Real-time Rigid Body Simulation for Haptic Interactions Based on Contact Volume of Polygonal Objects Shoichi Hasegawa,

Speaker: Shau-Shiang Hung( 洪紹祥 ) advisor :Shu-Chen Cheng( 鄭淑真 ) Date : 2010/4/8 Computer Graphics and Applications, IEEE Publication Date : March-April.

1 Haptic Systems Mohsen Mahvash Lecture 1 9/1/06.

Introduction Surgical training environments as well as pre- and intra-operative planning environments require physics-based simulation systems to achieve.

VIRTUAL REALITY Sagar.Khadabadi. Introduction The very first idea of it was presented by Ivan Sutherland in 1965: “make that (virtual) world in the window.

Digital Sound Ming C. Lin Department of Computer Science University of North Carolina

1 The Rendering Pipeline. CS788 Topic of HCI 2 Outline  Introduction  The Graphics Rendering Pipeline  Three functional stages  Example  Bottleneck.

Sheep A Rigid Body Dynamics Engine François Beaune Thursday 7, 2002.

1 Haptic Systems Mohsen Mahvash Lecture 3 11/1/06.

Tele Immersion. What is Tele Immersion? Tele-immersion is a technology to be implemented with Internet2 that will enable users in different geographic.

A Computationally Efficient Framework for Modeling Soft Body Impact Sarah F. Frisken and Ronald N. Perry Mitsubishi Electric Research Laboratories.

Virtual Systems Engineering Course objective: To study methods for design and analysis of virtual systems What is a virtual system ? A virtual system is.

1 Perception and VR MONT 104S, Fall 2008 Lecture 14 Introduction to Virtual Reality.

Augmented Reality Authorized By: Miss.Trupti Pardeshi. NDMVP, Comp Dept. Augmented Reality 1/ 23.

1 1 Spatialized Haptic Rendering: Providing Impact Position Information in 6DOF Haptic Simulations Using Vibrations 9/12/2008 Jean Sreng, Anatole Lécuyer,

Animated Speech Therapist for Individuals with Parkinson Disease Supported by the Coleman Institute for Cognitive Disabilities J. Yan, L. Ramig and R.

Progress Report Yoonsang Lee, Movement Research Lab., Seoul National University.

Gesture Modeling Improving Spatial Recognition in Architectural Design Process Chih-Pin Hsiao Georgia Institute of Technology.

UNC Chapel Hill M. C. Lin Basics of Motion Generation let X i = position,orient. of O i at t k = t 0,  i END = false while (not END) do display O i, 

Beyond Bouncing Boxes Fast, yet still Realistic, Deformation and Fracture Jeff Lander Darwin 3D, LLC Luxoflux James O'Brien U. of California, Berkeley.

TELE IMMERSION AMAN BABBER

Su-ting, Chuang 1. Outline Introduction Related work Hardware configuration Detection system Optimal parameter estimation framework Conclusion 2.

Interactive educational system for coal combustion modeling in Power Plant boilers Marek Gayer, Pavel Slavík and František Hrdlička Computer.

City College of New York 1 John (Jizhong) Xiao Department of Electrical Engineering City College of New York Mobile Robot Control G3300:

Modeling and Visualization of Combustion Using Fluid Simulator and Particle Systems Ing. Marek Gayer (supervised by prof. Pavel Slavík) Computer Graphics.

Laboratory for Intelligent Mechanical Systems Considerations for Robust Haptic Interaction with Virtual Dynamic Systems Ed Colgate Department of Mechanical.

PhD Defense Emanuele Ruffaldi

School of Computer Science Advanced Interfaces Group Extensive expertise in R&D of VR software systems and applications MAVERIK VR software downloaded.

Outline Introduction Related Work System Overview Methodology Experiment Conclusion and Future Work.

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

UCL Human Representation in Immersive Space. UCL Human Representation in Immersive Space Body ChatSensing Z X Y Zr YrXr Real–Time Animation.

HAPTIC TECHNOLOGY ASHWINI P 1PE06CS017.

THINKING OUTSIDE THE BOX . (AR) IN GAMES might-look-like-playing-videogames-very-Shttp://

Introduction to Computer Haptics Chris Harding

Computer Graphics Lecture 1 Introduction to Computer Graphics

Introduction to Graphics Modeling

Animation of Trees CS 658.

COMP259: Physically-Based Modeling, Simulation & Animation

TELE-PRESENCE BY BHABANI SANKAR SENAPATI.

Physically Based Modeling -Overview-

– Graphics and Visualization

Schematic diagram showing inputs and modules of iDROP software.

Presentation transcript:

Graduate Programs in Computer Science A Soft Hand Model for Physically-based Manipulation of Virtual Objects Jan Jacobs Group Research Virtual Technologies Volkswagen AG Bernd Froehlich Virtual Reality Systems Group Bauhaus-Universitat Weimar In Virtual Reality Conference (VR), March, 2011 Singapore, IEEE, 2011.

Graduate Programs in Computer Science Outline Background Introduction Related Work System Design Results and Discussion Conclusions Future Work

Graduate Programs in Computer Science Background What is VR?  Virtual Reality Applications of VR  Video Games  Training Systems  Simulator  3D/4D Movies, Games  Auto Design

Graduate Programs in Computer Science Background The integration of physical behavior has significantly increased the quality of games and virtual environments overall The interaction with simulated objects also needs to occur on a physical basis. The representation of a user in the virtual world needs to be physically modeled to achieve a realistic interaction between user and virtual objects. The problem: the modeling of the finely articulated human hand to enable finger-based interaction.

Graduate Programs in Computer Science Introduction A direct and robust finger-based manipulation relies on three major issues  Stable grasping of objects  Robust manipulation  Controlled releasing of objects. In general, there are two common ways to achieve these goals  Grasping through heuristics  Collision based physical simulations.

Graduate Programs in Computer Science Introduction In 2005, Borst et al. [1] relies on a hand model constructed from rigid bodies. Problems:  It could not correctly consider friction between fingers and virtual  It required careful tuning of parameters for a reasonably stable interaction.

Graduate Programs in Computer Science Introduction Real World Grasping Increasing contact area with increasing contact force. Left: loose touch. Right: strong pressure between finger and a pane of glass.

Graduate Programs in Computer Science Introduction Physics problem  f = μN  μ is the friction coefficient  N is the pressure  The friction doesn’t related to the contact area VR Simulation  No haptic system  Mapping: the higher the pressure, the bigger the contact area

Graduate Programs in Computer Science Introduction A soft body model for each finger phalanx was introduced to enable pressure-based deformation of the soft finger contact areas. The system allows for very precise and robust finger-based grasping, manipulation and releasing of virtual objects in real-time.

Graduate Programs in Computer Science Related Work This idea is originally from Duriez et al. in 2008 [2]. They addressed this problem by directly calculating friction at skin level.  Complexity The FastLSM algorithm by Rivers et al. [3].

Graduate Programs in Computer Science System Design Software Architecture Tracking Hand Model

Graduate Programs in Computer Science System Design Software Architecture  Scenegraph System: OpenSG  Physics Engine: bullet  User Input

Graduate Programs in Computer Science System Design Tracking  An optical finger tracking system  Seven evenly spread cameras for a 3m 3 volume

Graduate Programs in Computer Science System Design Hand Model  A rigid body (grey)  A soft body (green)

Graduate Programs in Computer Science Results and Discussion Unconstrained interaction with a horse model. The fingerpads adapt to the geometries’ shape, enabling stable and robust interaction.

Graduate Programs in Computer Science Results and Discussion Two handed interaction with non-constrained objects. Collision response between torus and stick is enabled through physics simulation.

Graduate Programs in Computer Science Results and Discussion Interaction within an immersive display system. A user interacts with a constrained steering wheel using both hands, thus reproducing a real-world interaction.

Graduate Programs in Computer Science Conclusions A new hand model is based on soft bodies coupled to a rigid body hand skeleton  Precise and robust finger-based grasping, manipulation and releasing  Dynamic adaptation of the stiffness values  The implicit friction model The pressure-based increasing and decreasing of the contact area of the simulated finger phalanxes

Graduate Programs in Computer Science Future Work A soft body for palm Using different deformation algorithm depending on the situation A skinned hand representation

Graduate Programs in Computer Science References [1] C. W. Borst and A. P. Indugula. Realistic virtual grasping. In Virtual Reality Conference (VR), 2005 IEEE, pages 91–98, 320, [2] C. Duriez, H. Courtecuisse, J. P. de la Plata Alcalde, and P.-J. Bensoussan. Contact skinning. In Eurographics 2008 (short paper), pages 313–320, New York, NY, USA, [3] A. R. Rivers and D. L. James. FastLSM: Fast lattice shape matchingfor robust real-time deformation. ACM Transactions on Graphics (Proc. SIGGRAPH 2007), 26(3):82, July 2007.

Graduate Programs in Computer Science Thank you! Questions?