TY - GEN
T1 - Virtual fixture based haptic rendering of handwriting
AU - Wu, Jun
AU - Wang, Dangxiao
AU - Zhang, Yuru
PY - 2009
Y1 - 2009
N2 - Virtual fixture is widely used for motor skill assistance and training. For motor skills involving long and selfintersecting trajectories with variational curvatures, existing methods based on analytic representation of curves can not meet real time and stability requirements of haptic rendering. In this paper, a simple and efficient hierarchical structure is proposed to represent the time ordered geometry of the desired trajectory. The minimum distance from the position of the tool to the desired trajectory is calculated by filtering impossible segments while traversing the hierarchy. To avoid the force discontinuity caused by the singularity of the absolute minimum distance, a constraint conversion method is proposed. The experiments verified that the proposed method satisfied real time and stability requirements of haptic rendering. It enables applications of virtual fixture for assistance and training in handwriting, surgery operation and other skills involving complex trajectories.
AB - Virtual fixture is widely used for motor skill assistance and training. For motor skills involving long and selfintersecting trajectories with variational curvatures, existing methods based on analytic representation of curves can not meet real time and stability requirements of haptic rendering. In this paper, a simple and efficient hierarchical structure is proposed to represent the time ordered geometry of the desired trajectory. The minimum distance from the position of the tool to the desired trajectory is calculated by filtering impossible segments while traversing the hierarchy. To avoid the force discontinuity caused by the singularity of the absolute minimum distance, a constraint conversion method is proposed. The experiments verified that the proposed method satisfied real time and stability requirements of haptic rendering. It enables applications of virtual fixture for assistance and training in handwriting, surgery operation and other skills involving complex trajectories.
KW - Constraint conversion method
KW - Handwriting
KW - Haptic rendering
KW - Minimum distance computation
UR - https://www.scopus.com/pages/publications/70349919801
U2 - 10.1109/VECIMS.2009.5068858
DO - 10.1109/VECIMS.2009.5068858
M3 - 会议稿件
AN - SCOPUS:70349919801
SN - 9781424438099
T3 - 2009 IEEE International Conference on Virtual Environments, Human-Computer Interfaces, and Measurements Systems, VECIMS 2009 - Proceedings
SP - 16
EP - 21
BT - 2009 IEEE International Conference on Virtual Environments, Human-Computer Interfaces, and Measurements Systems, VECIMS 2009 - Proceedings
T2 - 2009 IEEE International Conference on Virtual Environments, Human-Computer Interfaces, and Measurements Systems, VECIMS 2009
Y2 - 11 May 2009 through 13 May 2009
ER -