Data analysis on virtual stiffness in 6DoFs haptic rendering system

We present an optimization analysis method for virtual stiffness in 6-DoFs haptic rendering system. The method is based on the locally optimized generalized penetration computation algorithm which computes the minimum translational and rotational motion to separate two overlapping objects. The essence of penalty-based haptic rendering method is computing an amount of penetration depth, and the output force magnitude is following the Hooke׳s law. We use the virtual coupling method to calculate the output force and analysis the damping and stiffness coefficient in order to get a rendering force which optimizes the haptic feedback value in haptic rendering system. We mapped the virtual contact results to the feedback force and torque, and successfully integrated the algorithm into the off-the-shelf 6Dof haptic device. Our rendering algorithm can handle highly complexity polygon models and make no assumption about the underlying geometry topology. The experiment result shows the optimization analysis method can generate stable and realistic haptic feedback.