Six degree-of-freedom haptic rendering using voxel sampling

摘要

A simple,fast,and approximate voxel-based approach to 6 DOF haptic renderign is presented.It cna eliably sustain a 1000 Hz haptic refresh rate without resorting to asynchronous physics and haptic rendering loops.It enables the manipulation of a modestly ocmplex rigid object within an arbitrarily complex environment of static rigid objects.It renders a short-range fordce field surrounding the static objects,which repels the manipulatd object and strives to maintain a voxel-scale minimum separation distance that is known to preclude exact surface interpenetration.