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실감형 모델링을 위한 볼륨 햅틱 렌더링 알고리즘
Volume Haptic Rendering Algorithm for Realistic Modeling

정지찬    (동국대학교 산업시스템공학과   ); 박준영    (동국대학교 산업시스템공학과  );
  • 초록

    Realistic Modeling is to maximize the reality of the environment in which perception is made by virtual environment or remote control using two or more senses of human. Especially, the field of haptic rendering, which provides reality through interaction of visual and tactual sense in realistic model, has brought attention. Haptic rendering calculates the force caused by model deformation during interaction with a virtual model and returns it to the user. Deformable model in the haptic rendering has more complexity than a rigid body because the deformation is calculated inside as well as the outside the model. For this model, Gibson suggested the 3D ChainMail algorithm using volumetric data. However, in case of the deformable model with non-homogeneous materials, there were some discordances between visual and tactual sense information when calculating the force-feedback in real time. Therefore, we propose an algorithm for the Volume Haptic Rendering of non-homogeneous deformable object that reflects the force-feedback consistently in real time, depending on visual information (the amount of deformation), without any post-processing.


  • 주제어

    Volume Haptic Rendering .   Non-Homogeneous Deformable Object .   3D ChainMail algorithm.  

  • 참고문헌 (13)

    1. 경기욱, 박준석, "햅틱스 기술개발 동향 및 연구 전망", 전자통신동향분석, 제21권, 제5호, 2006.     
    2. Colgate, J. E., Stanley, M. C. and Brown, J. M., "Issues in the Haptic Display of Tool Use", IEEE/ RSJ International Conference on Intelligent Robotics and Systems, Pittsburgh, pp. 140-145, 1995. 
    3. Kimura, A., Camp, J., Robb, R and Davis, B., "A Prostate Brachytherapy Training Rehearsal Systemsimulation of Deformable Needle Insertion", Lecture Notes in Computer Science, Vol. 2488, 2002. 
    4. Ra, J. B., Kwon, S. M., Kim, J. K. and et al., "Spine Needle Biopsy Simulator Using Visual and Force Feedback", Computer Aided Surgery, Vol. 6, pp. 353-363, 2002. 
    5. Meier, U., Lopez, O., Monserrat, C., Juan, M. C. and Alcaniz, M., "Real-time Deformable Models for Surgery Simulation: A Survey", Computer Methods and Programs in Biomedicine, Vol. 77, pp. 183-197, 2005. 5. 
    6. Gibson, S. F. E., "3D ChainMail: A Fast Algorithm for Deforming Volumetric Objects", in Proc. of Symp. Interactive 3D Graphics, pp. 149-154, 1997. 
    7. Gibson, S. F. F., "Using Linked Volumes to Model Object Collisions, Deformation, Cutting, Carving, and Jointing", IEEE Trans. on Visual. & Comp. Graph., Vol. 5, pp. 333-348, 1999. 
    8. Kiihnapfel, U., Cakmak, H. K. and Maass, H., "Endoscopic Surgery Training Using Virtual Reality and deformable Tissue Simulation" Computers & Graphics, Elsevier, Vol. 24, 671-682. 
    9. Li, Y., Brodlie, K. and Phillips, N., "Web-based VR Training Simulator for Percutaneous Rhizotomy", in Medicine Meets Virtual Reality 2000, edited by J. D. Westwood, H. M. Hoffman, G. T. Mogel, R. A. Robb and D. Stredney, lOS Press, pp. 175-181,2000. 
    10. Schill, M. A., Gibson, S. F. F., Bender, H.-J. and Manner, R., "Biomechanical Simulation of the Vitreous Humor in the System Using an Enhanced Chain Mail Algorithm", Medical Image Computing and Computer Assisted Intervention (MICCAI'1998), pp. 679-687, 1998 
    11. Engel, K., Kraus, M. and Ertl, T., "High-Quality Pre-Integrated Volume Rendering Using HardwareAccelerated Pixel Shading", Eurographics/SIGGRAPH Workshop on Graphics Hardware '01, 2001. 
    12. Conti, F., Barbagli, F., Morris, D. and Sewell, C., "CHAI: An Open-Source Library for the Rapid Development of Haptic Scenes", in Demo paper presented at IEEE World Haptics, 2005. 
    13. Alterovitz, R., Pouliot, J., Taschereau, R., Hsu, I. C. and Goldberg, K., "Needle Insertion and Radioactive Seed Implantation in Human Tissues: Simulation and Sensitivity Analysis", in Proc. of the IEEE Int. Conf. on Robotics and Auto, 2003. 

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