Haptic interaction with deformable objects: modelling VR systems for textiles

by Böttcher, Guido

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Title Statements

Full title :Haptic interaction with deformable objects : modelling VR systems for textiles / Guido Böttcher.

Summary

The focus from most Virtual Reality (VR) systems lies mainly on the visual immersion of the user. But the emphasis only on the visual perception is insufficient for some applications as the user is limited in his interactions within the VR. Therefore the textbook presents the principles and theoretical background to develop a VR system that is able to create a link between physical simulations and haptic rendering which requires update rates of 1\, kHz for the force feedback. Special attention is given to the modeling and computation of contact forces in a two-finger grasp of textiles. Addressing further the perception of small scale surface properties like roughness, novel algorithms are presented that are not only able to consider the highly dynamic behaviour of textiles but also capable of computing the small forces needed for the tactile rendering at the contact point. Final analysis of the entire VR system is being made showing the problems and the solutions found in the work.

Edition Statements

Publication Date:©2011.

Publication Statements

Publisher(s):Springer
Place of Publication:London
Language:eng
Publication Date:©2011.

The Physical Object

Description:1 online resource (xi, 140 pages) : : illustrations (chiefly color)

Edition Identifiers

ISBN:9780857299352, 0857299352, 9780857299345, 0857299344, 1283350815, 9781283350815
DOI:10.1007/978-0-85729-935-2
oclc:ocn756036362
LC Classification:QA76.9.U83
Dewey Decimal:005.43/7

Haptic Interaction with Deformable Objects; Series Editors' Foreword; Preface; Contents; Acronyms; Chapter 1: Introduction; 1.1 Previous Work; References; Chapter 2: Physical Simulation; 2.1 Elementary Units and Principles; 2.1.1 Conventions; 2.1.2 Energy and Conservation; 2.1.3 Multibody Systems and Constrained Motions; 2.1.4 Constraints; 2.2 Continuum Formulation; 2.2.1 Internal Strains; 2.2.2 Mechanical Stresses; 2.2.3 Constitutive Equations; 2.2.4 Energy Principles and Variational Approach; 2.2.4.1 Hamilton's Principle; 2.3 Numerical Simulation; 2.3.1 Discretisation and Solution.

2.3.2 Textile Simulation Model2.3.3 Optimised Force Calculations; 2.3.4 Numerical Integration; 2.3.5 Numerical Stability; 2.3.6 Linear Solvers; 2.3.6.1 Krylov-Subspace Methods; 2.3.6.2 Conjugate Gradient-Method; 2.3.6.3 Preconditioning of the CG Method; 2.4 Measuring Physical Properties; 2.4.1 Textile Parameters; References; Chapter 3: Haptic Interaction; 3.1 Preliminaries; 3.1.1 Touch Perception; 3.1.2 Haptic Devices; 3.1.3 Control Theory; 3.1.4 Signal Processing; 3.1.5 Stability; 3.1.6 Virtual Coupling; 3.2 GRAB Device; 3.3 Haptic Rendering; 3.3.1 Contact Modeling; 3.4 Collision Detection.

3.4.1 B…