[D83] High-Fidelity Contact Rendering: Feel realistic forces from virtual objects!

Abstract

A haptic interface enables the user to interact with virtual environments, and sense virtual objects. The key to producing realistic feeling is to feed back a contact force that closely emulates its physical counterpart. In this demo, we demonstrate the application of the High-Fidelity Contact Rendering framework developed by our research group at McGill to a billiard haptic game. The classic one-dimensional spring-damper virtual coupling has been generalized to a 5-DoF force feedback virtual tool. This virtual tool (the cue) is formulated as a spatial viscoelastic beam element with energy-consistent force feedback, and couples the haptic device to the virtual objects (the billiard balls). The interaction between the cue and balls is described at the impulse level. Poisson's law for impacts with friction has been applied. The demo employs the W5D device by Entact Robotics, C++ S-functions based on the W5D API, Simulink Real-Time Workshop and the VRML Blockset.