Haptic Interaction with Complex Objects Based on Local-domain Forces and Distributed Collision Detection Approach

Abstract

This paper presents a virtual haptic interaction system that employs a distributed collision detection algorithm using PC-cluster. The system achieved very fast collision detection with complex objects that have a large number of polygons and forces were applied in the local domain of the collision area. Using PC-cluster to calculate collision improves the response significantly. In addition, a pseudo force generation approach is proposed to smooth the force feedback produced in the haptic loop.