_ ____~ ~----- The Artificial Intelligence Laboratory and The Research Laboratory of Electronics at the Massachusetts Institute of Technology Cambridge, Massachusetts 02139 Proceedings of the Third PHANToM Users Group Workshop Edited by: Dr. J. Kenneth Salisbury and Dr. Mandayam A.Srinivasan A.I. Technical Report No.1643 R.L.E. Technical Report No.624 December, 1998 Massachusetts Institute of Technology ---^ILUY((*4·U*____II· IU· Proceedings of the Third PHANToM Users Group Workshop October 3-6, 1998 Endicott House, Dedham MA Massachusetts Institute of Technology, Cambridge, MA Hosted by Dr. J. Kenneth Salisbury, AI Lab & Dept of ME, MIT Dr. Mandayam A. Srinivasan, RLE & Dept of ME, MIT Sponsored by SensAble Technologies, Inc., Cambridge, MA I - -C - I·------- - -- -1 - - - ---- Haptic Rendering of Volumetric Soft-Bodies Objects Jon Burgin, Ph.D On Board Software Inc. Bryan Stephens, Farida Vahora, Bharti Temkin, Ph.D, William Marcy, Ph.D Texas Tech University Dept. of Computer Science, Lubbock, TX 79409, (806-742-3527),
[email protected] Paul J. Gorman, MD, Thomas M. Krummel, MD, Dept. of Surgery, Penn State Geisinger Health System Introduction The interfacing of force-feedback devices to computers adds touchability in computer interactions, called computer haptics. Collision detection of virtual objects with the haptic interface device and determining and displaying appropriate force feedback to the user via the haptic interface device are two of the major components of haptic rendering. Most of the data structures and algorithms applied to haptic rendering have been adopted from non-pliable surface-based graphic systems, which is not always appropriate because of the different characteristics required to render haptic systems.