A framework for haptic rendering system using 6-DOF force-feedback device

In this paper, we describe the design of the hardware and software for haptic rendering system. A haptic interface allows a human to explore and to interact with virtual environments using the sense of touch. Haptic rendering systems include three main components: detecting collision, computing the penetration depth, and restoring force and torques. We present novel algorithms for fast proximity queries for haptic interaction with a hybrid hierarchical representation, consisting of bounding axis-aligned bounding box trees (ABB-Trees) and tight fitting oriented bounding box trees (OBB-Trees). The resulting contact information is used for computing the restoring forces and torques. The rendering algorithms have been interfaced with 6-DOF force-reflecting device and applied to a number of polygonal models. This framework has been implemented in a system that is able to haptically render complex virtual environments.