Computer Haptics

From EuroVR Knowledge Base

Full name: Computer Haptics
Acronym: Computer Haptics
Website: http://lsc.univ-evry.fr http://www.touch-hapsy.org
Keywords: Collision detection, Haptic control
Budget: €
Start date: September 1998
End date

Partners

Abderrahmane Kheddar, Prof.
Pierre Joli, Ass. Prof
Nicolas SÎ¹guy, Ass. Prof.
PhD students: A. Pocheville, M. Hatab, B. Bayart, N. Talbi

Funding Bodies

Contact

Abderrahmane Kheddar, CNRS/LSC, 40, rue du Pelvoux, CE1455 Courcouronnes, 91020 Evry Cedex, France,

Email: kheddar@ieee.org, Web: http://lsc.univ-evry.fr, Tel: +33 1 69477536, Fax: +33 69 47 06 03.

Objectives

The aim of this project is to design computer haptics and control models that can be implemented in the scope of multi-modal and synergistic human-machine interfaces, and more specifically the development of a computer haptics framework where different approaches of computer haptics (and other fields) can be experienced and evaluated

Main Results

Scientific results:
- PhD thesis: S. Redon (interactive simulation rigid bodies) 2002, C. Duriez (interactive simulation deformable object) 2004, A. Pocheville (I-TOUCH framework) 2005

Material results:
- Prototype. Industruial virtual prototyping with haptic feedback

End Users

The target applications virtual prototyping for industry and design companies and medical interactive simulations.

Publications

H. Arioui, A. Kheddar, & S. Mammar, A model-based controller for interactive force reflecting virtual environment under time-delay. Journal of Intelligent and Robotic Systems, Vol. 37, No 2, pp. 193–207, 2003, June.

S. Redon, A. Kheddar, & S. Coquillart, Fast continuous collision detection between rigid bodies, Computer Graphics Forum, The International Journal of the EUROGRAPHICS, Vol. 21, No 3, pp. 279–288, 2002, September.

A. Pocheville, & A. Kheddar, “I-TOUCH: a framework for computer haptics”, IEEE/RSJ International Conference on Intelligent Robotics and Systems, Workshop on Touch and Haptics, Sept. 28-Oct. 2, Sendai, Japan.

C. Duriez, C. Andriot, & A. Kheddar, SignoriniÂ’s contact model for haptic simulations, IEEE/RSJ International Conference on Intelligent Robotics and Systems, Sept. 28–Oct. 2, Sendai, Japan.

S. Redon, A. Kheddar, & S. Coquillart, Gauss least constraints principle and rigid body simulations, IEEE International Conference on Robotics and Automation, May 11–15, Washington DC, USA.

Application & Research Areas

Haptic Interaction

Technical Areas

Comments

The design philosophy of actual haptic libraries poses some limitations. First of all, they are all considering point-based-interaction. Indeed it seems to be difficult to use these libraries in the generic haptic framework case. Designing computer haptics on the basis of computer graphics pipe analogy raises fundamental physics controversies. Our approach to computer haptics differs from what is actually considered by some developers. Since we design computer haptic on the basis of physically based simulation engine, several combination of existing or novel bricks composing the process of the reaction force computation are possible. In this case however, the entire scene is haptic and haptic parameters such as mass, inertia, friction coefficient... are already present for the physics engine. To some extent, the entire virtual environment is haptic, since motion is related to forces. In order to feedback haptic information to the user, all what one need to specify is which virtual object is being grasped or touched or manipulated: it will be called the proxy. Part of the computed forces, namely those applied on the proxy are fed back to the user operator through the haptic connected interface. Fundamental aspects are : decoupling computer haptic from the hardware, real-time collision detection, real-time physically based haptic interaction, thermal and texture feedback.