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Title: Integrating PhysX and OpenHaptics : efficient force feedback generation using physics engine and haptic devices
Authors: Chan, Leon Sze-Ho
Choi, Kup-Sze
Subjects: Biomedical informatics
Force feedback
Fuzzy systems
Haptic interfaces
Medical services
Medical tests
System testing
Issue Date: 2009
Publisher: IEEE
Source: Joint Conferences on Pervasive Computing (JCPC2009) : 3-5 December, 2009, Tamkang University, Taipei, Taiwan, p. 853-858.
Abstract: Haptic feedback plays an important role to further enhance the level of realism of virtual environments. However, rendering of realistic haptic feedback depends on its coupling to the underlying physics engine that governs the behavior of virtual objects. This paper presents methods to streamline the generation of haptic feedback with physics engine based on Sensable's OpenHaptics and nVidia's PhysX. Minimal development effort is required to couple these two components. To render the forces due to the interactions between virtual objects, the Error-based method and the Contact Plane Collision Response method are proposed to utilize virtual material stiffness and object collision geometry provided by PhysX. The latter method yields more jitter-free output by restricting the haptic interface on one side of the contact plane. While PhysX does not release force information from the engine, an intuitive technique is proposed to simulate a static or dynamic pulling force by introducing a spring between the haptic interface and the object being pulled. The use of these methods provides the desired force feedback without significant changes to the developer's codebase.
Rights: © 2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Type: Conference Paper
DOI: 10.1109/JCPC.2009.5420068
ISBN: 978-1-4244-5228-6
Appears in Collections:SN Conference Papers & Presentations

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