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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 on theme: "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)"— Presentation transcript:

1 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) Advancements in the Small Scale Model

2 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 Haptic Rendering / Small Scale Model Guido Böttcher 2

3 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 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 25..50Hz deformation loop 100..300Hz Interpolation of force haptic loop 1kHz

4 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 Haptic Rendering / Small Scale Model Guido Böttcher 4 Task Groups Dynamic Refinement of Local Geometry Motion Estimation Fingertip Deformation Haptic Interface Coupling

5 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 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“, 2004 2 Villard J., Borouchaki H., „Adaptive meshing for cloth animation“, 2002 3 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

6 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 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

7 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 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”, 2004 2 Xydas N., Kao I., „Modeling of Contact Mechanics and Friction Limit Surfaces…“, 1999 3 Serina E. „A structural model of the forced compression…“, 1998 4 Reznik D., Laugier C., „Dynamic Simulation and Virtual Control of a Deformable Fingertip“, 1996 5 Kheddar A., Duriez C., „Realistic Haptic Rendering of Interacting Deformable…“, 2006

8 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 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

9 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 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

10 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 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

11 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 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

12 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 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

13 haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549) HAPTEX Meeting Tampere 16./17.02.2006 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

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