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Conference Papers Year : 2013

Six-DoF Haptic Interaction with Fluids, Solids, and their Transitions


Haptic interaction with different types of materials in the same scene is a challenging task, mainly due to the specific coupling mechanisms that are usually required for either fluid, deformable or rigid media. Dynamically-changing materials, such as melting or freezing objects, present additional challenges by adding another layer of complexity in the interaction between the scene and the haptic proxy. In this paper, we address these issues through a com- mon simulation framework, based on Smoothed-Particle Hydrody- namics, and enable haptic interaction simultaneously with fluid, elastic and rigid bodies, as well as their melting or freezing. We introduce a mechanism to deal with state changes, allowing the per- ception of haptic feedback during the process, and a set of dynamic mechanisms to enrich the interaction through the proxy. We decou- ple the haptic and visual loops through a dual GPU implementation. An initial evaluation of the approach is performed through perfor- mance and feedback measurements, as well as a small user study assessing the capability of users to recognize the different states of matter they interact with.
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Dates and versions

hal-00822517 , version 1 (14-05-2013)


  • HAL Id : hal-00822517 , version 1


Gabriel Cirio, Maud Marchal, Miguel A. Otaduy, Anatole Lécuyer. Six-DoF Haptic Interaction with Fluids, Solids, and their Transitions. IEEE Worldhaptics Conference, Apr 2013, Daejeon, South Korea. ⟨hal-00822517⟩
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