Virtual clay modeling using the ISU exoskeleton

被引：12

作者：

Chai, YH ^{[1
]}

Luecke, GR ^{[1
]}

Edwards, JC ^{[1
]}

机构：

[1] Iowa State Univ, Dept Mech Engn, Ames, IA 50011 USA

来源：

IEEE 1998 VIRTUAL REALITY ANNUAL INTERNATIONAL SYMPOSIUM, PROCEEDINGS | 1998年

关键词：

D O I：

10.1109/VRAIS.1998.658426

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A deformable Non-Uniform Rational B-Spline(NURBS) based volume is programmed for the ISU force reflecting exoskeleton haptic device. In this work, a direct free form deformation(DFFD) technique is applied for the realistic manipulation. In order to implement the real-time deformation, a nodal mapping technique is used to connect points on the virtual object with the NURBS volume. This geometric modeling technique is ideally incorporated with the force reflecting haptic device as a virtual interface. The results in this work introduce details for the complete set-up for the realistic virtual clay modeling task with force feedback. The ISU force reflecting Exoskeleton, coupled with a supporting PUMA 560 manipulator and the virtual clay model are integrated with WorldToolKit(WTK) graphics display in this paper and results show that the force feedback from the realistic physically based virtual environment can greatly enhance the sense of immersion.

引用

页码：76 / 80

页数：5