Virtual Manipulations with Force Feedback in Complex Interaction Scenarios

Abstract

This PhD thesis studies haptic rendering algorithms that create the sense of touch in interactive virtual simulations with haptic feedback. New data structures and methods for achieving accurate collision and force computation of complex scenarios at 1 kHz are presented, based on the principles of the Voxelamp Pointshell algorithm. These methods are validated in the context of several realistic virtual simulations and robotics applications and, additionally, evaluated in user studies that reveal insights for better multimodal interactions.