[{"key":"dc.contributor.author","value":"Constantinescu, Daniela","language":null},{"key":"dc.date.accessioned","value":"2009-12-23T18:43:59Z","language":null},{"key":"dc.date.available","value":"2009-12-23T18:43:59Z","language":null},{"key":"dc.date.issued","value":"2005","language":null},{"key":"dc.identifier.uri","value":"http:\/\/hdl.handle.net\/2429\/17282","language":null},{"key":"dc.description.abstract","value":"This work presents general purpose simulation and control techniques for efficient and transparent haptic\r\nrendering of rigid body motion with constraints. Transparent interaction is achieved by enabling users to\r\nfeel collisions and to manipulate both virtual objects and virtual linkages. Efficient rendering is accomplished\r\nthrough fast approximations of rigid body interaction implemented in a local model with haptic performance.\r\nHapic rendering of impacts is based on a new representation of rigid body contact. In this representation,\r\ncontacts are infinitely stiff when they arise and have limited stiffness thereafter. Multiple impacts are resolved\r\nsimultaneously, in a manner consistent with conservation of energy principles and with the force capabilities\r\nof the haptic device. Haptic rendering of impacts is beneficial in training simulators for dental procedures and\r\nbone surgeries, as well as CAD and virtual prototyping systems with force feedback.\r\nRealistic linkage manipulation is enabled by permitting users to operate linkages from any link and through\r\nsingularities while restricting their motion according to the virtual environment geometry and the linkage topology.\r\nLinkage topology is imposed on users through penalizing users' departure from the configuration manifold\r\nof the virtual linkage. Operation of links with insufficient degrees of freedom is important in applications like\r\ntraining for laparoscopy, where the scope limits the tool motion at the entry point.\r\nEfficient rendering of rigid body motion with constraints is enabled by interfacing the device to a simulation\r\nthrough a local model of interaction. The model comprises constraints imposed on the virtual tool by virtual\r\nobjects within an e-active neighborhood of the virtual tool and a dynamic proxy of the virtual tool. This model\r\nis the first that can be used to constrain both the translation and the rotation of the device and to add realistic\r\nforces to virtual environments generated using any commercial simulation package with interactive performance.\r\nThe model is beneficial in consumer-grade haptic applications, because it allows easy development of haptic\r\napplications by users without detailed haptic knowledge. It can also be used to enable cooperative haptic\r\nmanipulations in applications that involve two-handed operations and\/or multiple users.","language":"en"},{"key":"dc.language.iso","value":"eng","language":"en"},{"key":"dc.publisher","value":"University of British Columbia","language":null},{"key":"dc.rights","value":"For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https:\/\/open.library.ubc.ca\/terms_of_use.","language":null},{"key":"dc.title","value":"Efficient and transparent haptic rendering of rigid body motion with constraints","language":"en"},{"key":"dc.type","value":"Text","language":null},{"key":"dc.degree.name","value":"Doctor of Philosophy - PhD","language":"en"},{"key":"dc.degree.discipline","value":"Electrical and Computer Engineering","language":"en"},{"key":"dc.degree.grantor","value":"University of British Columbia","language":null},{"key":"dc.date.graduation","value":"2005-05","language":"en"},{"key":"dc.type.text","value":"Thesis\/Dissertation","language":"en"},{"key":"dc.description.affiliation","value":"Applied Science, Faculty of","language":null},{"key":"dc.description.affiliation","value":"Electrical and Computer Engineering, Department of","language":null},{"key":"dc.degree.campus","value":"UBCV","language":"en"},{"key":"dc.description.scholarlevel","value":"Graduate","language":"en"}]