Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (5): 197-203.DOI: 10.3778/j.issn.1002-8331.1912-0425

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Multirate Systematic Framework for Magnetic Levitation Visuo-Haptic Interaction

SHI Jieyuan, YUAN Zhiyong, LIAO Xiangyun, ZHAO Jianhui   

  1. 1.School of Computer, Wuhan University, Wuhan 430072, China
    2.Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong 518055, China
  • Online:2021-03-01 Published:2021-03-02



  1. 1.武汉大学 计算机学院,武汉 430072
    2.中国科学院 深圳先进技术研究院,广东 深圳 518055


Contactless magnetic levitation visuo-haptic interaction eliminates the inherent friction in the mechanical interactions and has promising prospects. However, there exist some problems in manipulating processes such as the unrealistic penetrations between the virtual tool and other virtual objects, the running velocity conflict between haptic rendering and graphical rendering. Aiming at these problems, a multirate systematic framework for magnetic levitation visuo-haptic interaction is proposed. By extending 3-DOF ray-based haptic rendering methods, a 6-DOF haptic rendering method is proposed which models the virtual tool using multiple rays avoiding penetrations. To handle the running velocity conflict, a multirate parallelization is performed. In addition, a mapping algorithm from the binocular positioning data to the positions of virtual tool is proposed. Experimental results demonstrate that this system can prevent penetrations efficiently and produce stable and realistic visuo-haptic feedback.

Key words: visuo-haptic interaction, haptic rendering, magnetic levitation, multirate parallelization



关键词: 视触觉交互, 触觉渲染, 磁悬浮, 多速率并行