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- W2247118465 abstract "Haptics means sensing and manipulation through touch. The aim of hapticrendering is to make able the user to touch, feel and manipulate the objectsthrough a haptic interface which is a user interface that allows a user to receivehaptic feedback via movement of a probe. Haptic rendering algorithms solvetwo major problems which are collision detection and collision response. Whenthe user manipulates the probe, the new position is set to the haptic probeand collisions of the virtual objects are detected by the haptic rendering algorithms.When the collision is detected, haptic rendering algorithms generatevirtual forces-torques that might have a meaning, but it is not the real one.The purpose of this master thesis is to minimize the di erence between the realand virtual forces-torques. In order to achieve this goal, the initial step is literatureresearch on the benchmarking of haptic rendering algorithms. This thesiscompares Voxmap-Pointshell Algorithm (VPS), The Inner Sphere Tree Algorithm(IST), RAPID, PQP, V-COLLIDE and PolyDepth algorithms accordingto the benchmarking suite presented by the German Aerospace Center (DLR).This benchmarking suite presents a set of testing scenarios and compares theperformance and quality of haptic rendering algorithms using synthetically generatedpaths. The results of benchmarking show the position of VPS algorithmin the haptic rendering algorithms. This result is important because the virtualforces-torques computed by the VPS algorithm are compared with the real onesrecorded by force-torque sensors. For that two real scenarios are de ned andexperiments are repeated in reality and virtual reality. During the experimentsin reality, a physical probe which is moving at the surface of a physical objectnever penetrates into the object. However, the virtual haptic probe should penetratethe surface of a virtual object to compute a force for the VPS algorithm.Because of this reason, even if a user tries to simulate the same virtual probemovements with the real probe, a virtual trajectory can not be identical witha recorded trajectory. This thesis presents an o¬ine calibration method whichis trying to nd the virtual inner trajectory equivalent to the real one. O¬inecalibration method results in the same force-torque output for both real andvirtual scenarios." @default.
- W2247118465 created "2016-06-24" @default.
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- W2247118465 date "2012-10-15" @default.
- W2247118465 modified "2023-09-27" @default.
- W2247118465 title "Calibration of Virtual Contact Forces with Real Contact Scenarios" @default.
- W2247118465 hasPublicationYear "2012" @default.
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