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In this paper we present a new method for real-time interactive haptic and graphic rendering of objects locally deformed by multiple contacts. Core algorithms have been designed to be executable also on videoboard's GPU, thus taking advantage of parallel matrix and vector computational power. Although complex physical simulation have been simplified to run on GPUs, results are characterized by high visio-tactile realism perceived by users. Graphical rendering algorithm can be easily added to pre-existing vertex shaders/programs. The proposed method make use of common triangular meshes, thus making the method a good choice when adding haptic feedback to existing graphical applications. The proposed algorithm has been tested to simulate tactile interaction with soft tissues.

De Pascale, M., De Pascale, G., Prattichizzo, D. (2006). Exploiting GPUs for visuo-haptic modelling of deformable tissues. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (pp.467-470). IEEE [10.1109/BIOROB.2006.1639132].

Exploiting GPUs for visuo-haptic modelling of deformable tissues

De Pascale M.;De Pascale G.;Prattichizzo D.
2006-01-01

Abstract

In this paper we present a new method for real-time interactive haptic and graphic rendering of objects locally deformed by multiple contacts. Core algorithms have been designed to be executable also on videoboard's GPU, thus taking advantage of parallel matrix and vector computational power. Although complex physical simulation have been simplified to run on GPUs, results are characterized by high visio-tactile realism perceived by users. Graphical rendering algorithm can be easily added to pre-existing vertex shaders/programs. The proposed method make use of common triangular meshes, thus making the method a good choice when adding haptic feedback to existing graphical applications. The proposed algorithm has been tested to simulate tactile interaction with soft tissues.
2006
1-4244-0040-6
978-1-4244-0039-3
De Pascale, M., De Pascale, G., Prattichizzo, D. (2006). Exploiting GPUs for visuo-haptic modelling of deformable tissues. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (pp.467-470). IEEE [10.1109/BIOROB.2006.1639132].
4.1 Contributo in Atti di convegno
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/1089914