Haptic rendering method based on generalized penetration depth computation

We present a new haptic iterative technology of 6-DoF haptic rendering based on the generalized penetration computation method. Generalized penetration depth is the minimum translational and rotational motion to separate two overlapping rigid objects; we used an iterative, local optimization method to approximate generalized penetration depth, and map the computation results to compute the virtual contact haptic feedback, force and torque. We successfully integrated the algorithm into an off-the-shelf 6-DoF haptic device (Phantom Premium). Our rendering algorithm can handle highly complex polygon models and make no assumption about the underlying geometry and topology. In order to resolve the instability problems, we use an optimization method to decrease the subtle rotation motion and think about the feedback force direction in the physical environment. The experimental result shows that our rendering method can generate stable and realistic haptic feedback.