filename     : p_Ota05.pdf
entry        : article
conference   :
pages        : 8-11 
year         : 2005
month        : July/August
title        : Sensation-Preserving Haptic Rendering
subtitle     :
author       : Ming C. Lin and Miguel A. Otaduy
booktitle    : IEEE Computer Graphics and Applications
ISSN/ISBN    :
editor       : Lawrence Rosenblum and Michael Macedonia
publisher    : IEEE Computer Society
publ.place   :
volume       : 25
issue        : 4
language     : English
keywords     : 
abstract     : Humans use tactile and force cues to explore the environment around them and to identify and manipulate objects. Six-degree-of-freedom haptic rendering (6-DoF) can greatly benefit many applications involving dexterous manipulation and complex maneuvering of virtual objects. However, techniques for 6-DoF haptic rendering based on exact collision detection are applicable only to relatively simple contact configurations or low-complexity models.
We propose a novel approach for 6-DoF haptic rendering that combines multiresolution representations, hierarchical collision detection algorithms, and perception-based force models. This approach enables stable and responsive 6-DoF haptic rendering of the interaction between polygonal models of high combinatorial complexity.