解析法の物理シミュレータのための局所的な動力学計算を行う力覚レンダリング(人工現実感及び一般)

概要

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In this paper we present a method for displaying force feedback using rigid body simulator based on analytical methods. A force feedback system consists of haptic rendering process and physical simulation process. Since stable control of haptic interfaces requires update rate of higher than 1kHz, haptic rendering processes require the same update rate. On the other hand, rigid body simulators require low update rate to run simulation because of computational limitation. Therefore, it is difficult to display correct force feedback to users. We present a synchronization technique between physical simulation process and haptic rendering process using local dynamics. This technique enable to make consistency between haptic rendering process and physical simulation process. We did a simple simulation to check the effectiveness of the synchronization technique.
社団法人電子情報通信学会の論文
2008-05-26