A novel haptic rendering algorithm based on vector median filter

The vertex and edge effect caused by polygonal representation of a virtual object can result in energy leak and make the system unstable. In this paper, we focuses on how to eliminate the vertex and edge effect by developing new haptic rendering algorithm when a probe moves across the vertices. We propose a new method to eliminate it by using a vector median filter weighted with shape measure. This approach has a number of advantages, including being perpendicular to the triangle, fast computation, least energy cost, and smooth transition. The developed method is validated on various models with comparison to conventional force rendering techniques.