Virtual clay modeling using the ISU exoskeleton

초록

A deformable Non-Uniform Rational B-Spline (NURBS) based volume is programmed for the ISU force reflecting exoskeleton haptic device. In this work, a direct free form deformation (DFFD) technique is applied for the realistic manipulation. In order to implement the real-time deformation, a nodal mapping technique is used to connect points on the virtual object with the NURBS volume. This geometric modeling technique is ideally incorporated with the force reflecting haptic device as a virtual interface. The results in this work introduce details for the complete set-up for the realistic virtual clay modeling task with force feedback. The ISU force reflecting Exoskeleton, coupled with a supporting PUMA 560 manipulator and the virtual clay model are integrated with WorldToolKit (WTK) graphics display in this paper, and results show that the force feedback from the realistic physically based virtual environment can greatly enhance the sense of immersion.

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