haptic surface manipulation
DESCRIPTION
Haptic Surface Manipulation. ICDA Group Manufacturing and Systems Ford Research Laboratory P.Stewart, P.Buttolo, Y.Chen, A.Marsan. Overview. Review Applications of Surface Manipulation Simulation versus Design Level of Control Existing Methodologies and Implementations - PowerPoint PPT PresentationTRANSCRIPT
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Haptic Surface Manipulation
ICDA Group Manufacturing and Systems
Ford Research LaboratoryP.Stewart, P.Buttolo, Y.Chen, A.Marsan
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Overview• Review
– Applications of Surface Manipulation• Simulation versus Design• Level of Control
– Existing Methodologies and Implementations• Issues With Novel Interfaces
– Data Structure Implications– User Interface and Physical Interface
• A Novel Touch-Enabled Interaction Method
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Surface Manipulation• What for ?
– Medical Applications– Entertainment
• Movies• Videogames
– Design and Manufacturing• Fashion• Electronics, Appliances• Automotive
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Simulation Versus Design
Simulation Design
Medical Applications
Entertainment Manufacturing
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Simulation: How Realistic ?
Believable Accurate reproduction
Entertainment Medical Applications
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Design: How Accurate ?
Accuracy,Level of control
ManufacturingEntertainment
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Level Of Control
• Function of application – Critical for Manufacturing
• Exactly the designer intent– Not just a good shape, but the desired shape
• Quality– Accurate, fair, smooth
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Design And Manufacturing
• Data structure/User interface• Physical/Digital• Issues with force-feedback interfaces• Overview of existing methods/packages
– providing force-feedback interaction
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Different Data Representations• Traditionally:
– Voxmaps (CFD)– Tessellated meshes(CAE, CFD)– Free-form surfaces (CAD)
• Boundaries are getting fuzzier!• User-Interface as the New Differentiator
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Clay as a Data Structure• Clay is not entirely “free-form”!
– Clay is just a medium– Different interfaces and levels of control:
• CNC machines• Tools to trace arcs and straight lines• Free-hand
• Main issues with clay are lack of integration and poor reusability
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Force-feedback Interfaces
• What is unique about using force-feedback?• Does it add “value” ?• What if it is turned-off ?
– Passive manipulation using 3D mouse• MagellanTM, MicroScribeTM
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Force-feedback Interfaces
• Better sense of space• Better hand-eye coordination• Clay-like “feeling”
• Poorer control ?– Lack of data on human perception
• Lederman, Klatzky, Tan, Srinivasan, …
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Force-feedback Interfaces• Quality of interaction
– function of computational refresh rate– haptic device structure/bandwidth
• Clay Buck: multi-fingered, two handed, dexterous manipulation
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Overview of Methods/Applications
• FreeForm– SensAble Technologies
• inTouch– Gregory, Ehmann, Lin– University of North Carolina
• D-NURBS Haptic Sculpting– Dachille, Qin, Kaufman, El-Sana– State University of New York at Stony Brook
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ACM-2001 Pietro Buttolo Ford Research Laboratory
FreeFormTM
• Voxmap based• Clay like paradigma• Math modeling tools• Surfacing tools• Commercial package (SensAble)
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ACM-2001 Pietro Buttolo Ford Research Laboratory
inTouch
• Polygonal-mesh based• Multi-resolution• Painting & Sculpting• Mesh collision detection (H-Collide)• Slide-mode / Stick-mode• Research platform (U. North Carolina)
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ACM-2001 Pietro Buttolo Ford Research Laboratory
D-NURBS Haptic Sculpting
• D-NURBS Based• Physical modeling• Mass-points• Rope tool
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Surface Sculpting
• Physical Approach– Push / Pull– Add / Remove
• Abstract Approach– Rope tool– Slide to / Stick to
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Push / Pull Implementation1.Free motion
2.Push
3.Free motion, other side4.Pull
Device
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Stick-to-surface/Stick-to-pen
• The user interface is constrained to follow the surface contour (Browsing) and at the same time the surface is manipulated to follow the user's motion (Sculpting).
• This method was initially developed to sculpt rational B-splines.
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ACM-2001 Pietro Buttolo Ford Research Laboratory
NURBS Surfaces
• A non-rational, non-periodic, B-spline surface is defined by the following:
n
i
m
jjiqjpi vNuNvu
0 0,,, )()(,S P
• where the basis functions Ni,p(u), Nj,q(u) are piecewise polynomials of order p and q respectively, recursively defined over two sets of non-decreasing knot sequences in the parametric domain, respectively, u0,…un, and v0,…,vm.
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ACM-2001 Pietro Buttolo Ford Research Laboratory
NURBS Surfaces
• Knots, basis functions and basis-maximum-points for a 3rd order B-spline.
N0,2
N1,2N2,2 N3,2 N4,2 N5,2 N6,2 N7,2
N8,2
umax,1umax,0
u3 u4 u5 u6 u7 u8u0=u1=u2 u9=u10=u11
umax,5umax,8umax,2 umax,6 umax,7umax,4umax,3
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Browsing and Sculpting
1. Motion in the Browsing Space determines the new interaction/tracking point.
2. Motion in the Manipulation Space determines the new shape of the surface.
3. The trade-off between "who’s tracking who" is achieved by decomposing the Cartesian space into the manipulation and browsing orthogonal subspaces.
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Browsing
• Goal: find point on surface in contact with haptic device– Closest Point, Interaction Point, Constrained Position– GOD point – Salisbury, Zilles– Proxy – Ruspini, Kolarov– Tracking Point – Thompson, Cohen
Device
Tracking Point
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Browsing
• FRL: Combination of Newton-Raphson, & others• Linear Approximation, Thompson, U. of Utah
Dt=Device(t)
Tt=Tracking(t)
Tt+1=Tracking(t+1)
B = Browsing
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Sculpting
• Direct manipulation of Control Points
Device
NURBS Control PointsM
Active Control Point
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Sculpting
• Manipulation at the Maximum-influence Points
Maximum-influence Points
Device M
Active Control Point
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Sculpting
• Manipulation of multiple control points– More details in P.Buttolo, P.Stewart, Y.Chen, “Force-enabled
sculpting of CAD models,” ASME DCS, Orlando, Nov 2000
Maximum-influence Points
DeviceM
Active Control Points
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ACM-2001 Pietro Buttolo Ford Research Laboratory
PD Manipulation Loop
• Update the surface:St+1(u,v) = St(u,v) + fm(M)
• One-Step manipulation:fm(M)= M
• PD Controlfm(M)= KPM+KVM
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Space Decomposition
• Example:Browsing on X,Sculpting on Z
D = B + M
St(u,v)
D1
Su
SuB
D
Tt=St(ut,vt)
Tt+1=St(ut+1,vt+1)
Z
X
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ACM-2001 Pietro Buttolo Ford Research Laboratory
• One way of finding browsing and editing motion is to use projection matrices.
• For example, these are for Editing Space: Z and Browsing Space: X
1000
MM
TzM DM 0DM
0001
BM
TxB DMB 0 D
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Projecting Motion on Browsing Subspace
St(u,v)
D1
Su
SuB
D
Tt=St(ut,vt)
Tt+1=St(ut+1,vt+1)
Z
X
uB
uu
SS
BB
lBu
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ACM-2001 Pietro Buttolo Ford Research Laboratory
Sculpting surface at the tracking point
• Convergence speed for three difference control gains
Dt
Tt+1=St+1(ut+1,vt+1)KP = 0.4KP = 0.3KP = 0.25
M
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ACM-2001 Pietro Buttolo Ford Research Laboratory
A Few Examples of Manipulation
• Movies:1. Direct Manipulation of Control Points2. Editing Space: Normal, Browsing Space: Tangent3. Editing Space: Z, Browsing Space: X,Y4. Editing Space: Z, Browsing Space: X5. Editing Space: Y, Browsing Space: X6. Editing Space: Y,Z, Browsing Space: X7. Averaging by Repeated Motion8. An Example of More Complex Manipulation
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Direct Manipulation of Control Points
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Editing Space: Normal, Browsing Space: Tangent
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Editing Space: Z, Browsing Space: X,Y
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Editing Space: Z, Browsing Space: X
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Editing Space: Y, Browsing Space: X
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Editing Space: Y,Z, Browsing Space: X
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Averaging by Repeated Motion
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An Example of More Complex Manipulation
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Other Research at FRL: The Haptic Buck
More details in P.Stewart, P.Buttolo, “Putting People Power Into Virtual Reality,” Design 2000, Special Issue of ASME Mechanical Engineer Design, http://www.memagazine.org/medesign/putting/putting.html