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Virtual Manipulations with Force Feedback in Complex Interaction Scenarios

Sagardia, Mikel (2019) Virtual Manipulations with Force Feedback in Complex Interaction Scenarios. Dissertation, Technische Universität München.

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Official URL: https://mediatum.ub.tum.de/?id=1463136

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.

Item URL in elib:https://elib.dlr.de/132879/
Document Type:Thesis (Dissertation)
Title:Virtual Manipulations with Force Feedback in Complex Interaction Scenarios
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Sagardia, MikelMikel.Sagardia (at) dlr.dehttps://orcid.org/0000-0001-7603-1717
Date:November 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:304
Status:Published
Keywords:virtual reality, collision detection, kinaesthetic haptic rendering, human-machine interaction, robotics
Institution:Technische Universität München
Department:Fakultät für Elektrotechnik und Informationstechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - OOS: Virtual Reality [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Hulin, Thomas
Deposited On:17 Dec 2019 09:11
Last Modified:17 Dec 2019 09:11

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