Intermediate Representation for 6-DoF Haptic Rendering

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  • Susa Ikumi
    Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology
  • Hasegawa Shoichi
    Precision and Intelligence Laboratory, Tokyo Institute of Technology

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Other Title
  • 6自由度力覚レンダリングのための中間表現
  • 6 ジユウドリョクカク レンダリング ノ タメ ノ チュウカン ヒョウゲン

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In this paper, we propose a novel intermediate representation to realize multi-rate 6-DoF haptic display system. Our proposed intermediate representation has various features. Use of the intermediate representation can display haptic feedback without inertial effect of haptic pointer. And polygon models are available for both haptic pointer and virtual objects without any pretreatment. In order to respond to 6-DoF operation, the intermediate representation consists of a plane and vertices. For haptic rendering, we have employed Yokoyama's constraint-based contact response method to display stable torque. Moreover, we attached a friction cone to each vertex of intermediate representation to calculate Coulomb's frictional force. Finally, we investigated effectiveness of the proposed method.

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