Virtual Coupling Haptic Rendering for Stable 6-DOF Softbody Feedback
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Solution Overview
Problem
Existing haptic rendering methods face computational redundancy and inefficiency due to different update frequencies between softbody deformation and haptic feedback systems, particularly in scenarios involving tool insertion into narrow gaps, leading to unstable feedback forces and increased calculation costs.
Innovation Solution
A method of haptic rendering via multiple virtual coupling systems with energy consistency, utilizing energy consistency constraints to integrate softbody-to-softbody, tool-to-tool, and tool-to-softbody interactions, and a shared storage update strategy to synchronize collision information, reducing redundant calculations and improving computational efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If separate collision detection and response calculation are performed at both softbody deformation end and haptic feedback end, then haptic feedback can be provided, but computational redundancy increases and calculation efficiency decreases
Solution Approach 1:
The patent merges the collision detection and response calculation processes between the softbody deformation system and haptic feedback system. By sharing collision detection results and integrating the response calculation, the system eliminates redundant computations while maintaining stable haptic feedback. The virtual coupling mechanism unifies these previously separate processes into a coordinated system.
Solution Approach 2:
The patent implements a universal collision detection and response mechanism that serves both softbody deformation and haptic feedback functions simultaneously. The same collision detection results are reused by both systems, and the virtual coupling framework enables a single response calculation to fulfill multiple purposes, reducing overall computational load.
2Speed
If different update frequencies are used for softbody deformation and haptic feedback systems, then each system can operate optimally, but synchronization becomes complex and computational overhead increases
Solution Approach 1:
The patent employs periodic action by updating the virtual tool pose at haptic feedback frequency intervals and using this updated pose for subsequent collision detections. This periodic update mechanism synchronizes the two systems operating at different frequencies without requiring complex continuous synchronization, reducing computational overhead while maintaining stability.
3Reliability
If virtual tool pose is frequently updated to improve haptic feedback stability, then feedback force stability improves, but computational cost increases
Solution Approach 1:
The patent performs preliminary collision detection to identify potential collisions before they occur. By detecting and preparing for collisions in advance, the system can update the virtual tool pose only when necessary, rather than continuously. This preliminary action reduces unnecessary computational cost while maintaining feedback stability through timely updates.
Data Source
AI summary
The present invention discloses a method of haptic rendering via multiple virtual coupling systems with energy consistency, which relates to the technical field of human-computer interaction in virtual reality and realizes six-degree-of-freedom force synthesis of complex operations, such as pressing and inserting, in the process of large-deformation between a tool and a softbody, which relates to the field of human-computer interaction in virtual reality. In the simulation scenario, the simulation system for each object contains two parts: the graphical part and the physical part, and the two parts are linked by means of virtual coupling. In addition, the mutual contact force between the tool simulation system and the softbody simulation system has the characteristic of consistent energy, which reduces the computational redundancy between two systems with different frequency, ensuring the real-time and robustness of deformation simulation under the condition of uncertain interaction.