Abstract
The algorithm for haptic interaction with a virtual environment consists of a sequence of two tasks. When the user operates a virtual tool attached to a haptic interface, the new tool pose is computed and possible collisions with objects in a virtual environment are determined. In case of a contact, reaction forces are computed based on the environment model and force feedback is provided to the user via the haptic display. Collision detection guarantees that objects do not float into each other. A special case of contact represents grasping of virtual objects as shown in Figure 5.1 that allows object manipulation. If grasping is not adequately modeled, it might happen that the virtual hand passes through the virtual object and the reaction forces that the user perceives are not consistent with the visual information.
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© 2012 Springer Science+Business Media Dordrecht
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Mihelj, M., Podobnik, J. (2012). Collision Detection. In: Haptics for Virtual Reality and Teleoperation. Intelligent Systems, Control and Automation: Science and Engineering, vol 64. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-5718-9_5
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DOI: https://doi.org/10.1007/978-94-007-5718-9_5
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