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Traitement des interactions haptiques : Interactions haptiques au sein de simulations dynamiques

Loïc Tching 1 Georges Dumont 1 Bruno Arnaldi 1 Jérôme Perret 2 
1 BUNRAKU - Perception, decision and action of real and virtual humans in virtual environments and impact on real environments
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, ENS Cachan - École normale supérieure - Cachan, Inria Rennes – Bretagne Atlantique
Abstract : In this paper, we propose a state of the art on the processing of contacts and impacts in dynamic simulators. We point out the main principle of haptic rendering in interactive simulations in the context of virtual reality. We briefly describe the coupling problematic between the different modules that compose a haptic simulation. Then we propose a survey of the methods that process the interactions between rigid objects. For that we dissociate the methods of interaction detection, from the methods that compute the collision efforts. Then, we discuss the use penalized dynamics and non-smooth dynamics methods for haptic-based simulations.
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Submitted on : Monday, December 21, 2009 - 9:49:28 AM
Last modification on : Friday, February 4, 2022 - 3:23:37 AM


  • HAL Id : inria-00442378, version 1


Loïc Tching, Georges Dumont, Bruno Arnaldi, Jérôme Perret. Traitement des interactions haptiques : Interactions haptiques au sein de simulations dynamiques. Revue des Sciences et Technologies de l'Information - Série TSI : Technique et Science Informatiques, 2009, 28 (8), pp.953-981. ⟨inria-00442378⟩



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