Potential Field Approach for Haptic Selection Jean Simard
Mehdi Ammi Flavien Picon
[email protected]
Patrick Bourdot
CNRS — LIMSI University of Paris XI Orsay, France
Graphics Interface 2009 Kelowna, Canada
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
GI 2009
1 / 10
Outline 1
Introduction Haptic in CAD
2
Force model The selection process Previous approach Proposed model
3
Potential field From force model to potential field Combination of potential fields
4
Conclusion and perspectives
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
GI 2009
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Introduction
Haptic in CAD
Haptic in CAD Problem Complex CAD models 3d environment 2d visualisation 2d manipulation
Propositions 3d manipulation with 6 DoF interface Display informations on haptic modality 1 2 3
Feel the environment Guide the user Assist the user
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
GI 2009
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Force model
The selection process
The selection process F
1 x b
−2
Specifications 1 Reach the targets Feel in high density areas
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
b
r to
3
3
ec
Differentiate the elements
2
Eff
2
1
−1
GI 2009
4 / 10
Force model
The selection process
The selection process F
1 b
x
−2
Specifications 1 Reach the targets Feel in high density areas
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
b
r to
3
3
ec
Differentiate the elements
2
Eff
2
1
−1
GI 2009
4 / 10
Force model
The selection process
The selection process F
1 b
x
−2
Specifications 1 Reach the targets Feel in high density areas
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
b
r to
3
3
ec
Differentiate the elements
2
Eff
2
1
−1
GI 2009
4 / 10
Force model
The selection process
The selection process F
1 b
x
−2
Specifications 1 Reach the targets Feel in high density areas
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
b
r to
3
3
ec
Differentiate the elements
2
Eff
2
1
−1
GI 2009
4 / 10
Force model
The selection process
The selection process F
1 b
x
−2
Specifications 1 Reach the targets Feel in high density areas
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
b
r to
3
3
ec
Differentiate the elements
2
Eff
2
1
−1
GI 2009
4 / 10
Force model
The selection process
The selection process F
1 b
x
−2
Specifications 1 Reach the targets Feel in high density areas
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
b
r to
3
3
ec
Differentiate the elements
2
Eff
2
1
−1
GI 2009
4 / 10
Force model
The selection process
The selection process F
1 x b
−2
Specifications 1 Reach the targets Feel in high density areas
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
b
r to
3
3
ec
Differentiate the elements
2
Eff
2
1
−1
GI 2009
4 / 10
Force model
Previous approach
Previous approach Three force models by [?] based on [?] Square
Linear
Quadratic
F
F
γ=
φ
1 2
F
γ=1
φ
x
x σ
γ=2
φ
σ
ϕ
ϕ
x σ
ϕ
Definition of the force model
F (x) =
φ· φ·
x γ σ
Jean Simard (CNRS — LIMSI)
ϕ−x ϕ−σ
x ∈ [0, σ] γ
x ∈ [σ, ϕ]
Potential field for Haptic Selection
GI 2009
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Force model
Proposed model
Proposed model Three proposed force models Square
Linear
Quadratic
F
F
γ=
φ
1 2
F
γ=1
φ
γ=2
φ
x
x σ
σ
x σ
Definition of the proposed force model σ — Size of the active area φ — Maximum amplitude of the force F (x) = φ
γ
x σ
Jean Simard (CNRS — LIMSI)
exp
γ σ2 − x 2 2σ 2
Potential field for Haptic Selection
GI 2009
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Potential field
From force model to potential field
From force model to potential field From the force model to the potential field inspired by [?] Force model
Potential field
F
U
γ=1
φ
σ b
x
x
σ
F (x ) = φ
P
x σ
exp
"
σ2 − x 2 2σ 2
#
~ 2 σ 2 − XP U(X , P) = φ·σ exp 2σ 2 "
#
Force model to potential field F (X , P) = −∇U(X , P) Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
GI 2009
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Potential field
Combination of potential fields
Combination of potential fields
Example Combine the potential fields of two vertices of a cube U
A b
b
B
x
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
GI 2009
8 / 10
Potential field
Combination of potential fields
Combination of potential fields
Example Put the potential field of a first vertex U
b b
UA
x
xA
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
GI 2009
8 / 10
Potential field
Combination of potential fields
Combination of potential fields
Example Put the potential field of a second vertex U
b b
UA
UB
xA
Jean Simard (CNRS — LIMSI)
x
xB
Potential field for Haptic Selection
GI 2009
8 / 10
Potential field
Combination of potential fields
Combination of potential fields
Example The local maxima indicate the emplacement of the vertex U Local maxima b b
UA
UB
xA
Jean Simard (CNRS — LIMSI)
x
xB
Potential field for Haptic Selection
GI 2009
8 / 10
Potential field
Combination of potential fields
Combination of potential fields
Example Addition of the two potential fields U
b
B
A
U
+
U
b
UA
UB
xA
Jean Simard (CNRS — LIMSI)
x
xB
Potential field for Haptic Selection
GI 2009
8 / 10
Potential field
Combination of potential fields
Combination of potential fields
Example The local maxima implies unexpected haptic effect U
Unexpected local maxima b
B
A
U
+
U
b
UA
UB
xA
Jean Simard (CNRS — LIMSI)
x
xB
Potential field for Haptic Selection
GI 2009
8 / 10
Potential field
Combination of potential fields
Combination of potential fields
Example Return to the potential fields of the two vertices U
b b
UA
UB
xA
Jean Simard (CNRS — LIMSI)
x
xB
Potential field for Haptic Selection
GI 2009
8 / 10
Potential field
Combination of potential fields
Combination of potential fields
Example Apply the max function U
b b
,U
x ma
{
}
B
UA
UA
UB
xA
Jean Simard (CNRS — LIMSI)
x
xB
Potential field for Haptic Selection
GI 2009
8 / 10
Potential field
Combination of potential fields
Combination of potential fields
Example The two local maxima are preserved U Local maxima b b
,U
x ma
{
}
B
UA
UA
UB
xA
Jean Simard (CNRS — LIMSI)
x
xB
Potential field for Haptic Selection
GI 2009
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Conclusion and perspectives
Conclusion and perspectives Force model
Potential field U
F φ b
σ
b
x
x
P
σ
Combination of potential fields with max U
xA Jean Simard (CNRS — LIMSI)
xB
Potential field for Haptic Selection
x
GI 2009
9 / 10
Conclusion and perspectives
Potential Field Approach for Haptic Selection Jean Simard
Mehdi Ammi Flavien Picon
[email protected]
Patrick Bourdot
CNRS — LIMSI University of Paris XI Orsay, France
Graphics Interface 2009 Kelowna, Canada
Jean Simard (CNRS — LIMSI)
Potential field for Haptic Selection
GI 2009
10 / 10
