{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,27]],"date-time":"2025-03-27T15:33:53Z","timestamp":1743089633470,"version":"3.40.3"},"publisher-location":"Cham","reference-count":12,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030581466"},{"type":"electronic","value":"9783030581473"}],"license":[{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2020,9,5]],"date-time":"2020-09-05T00:00:00Z","timestamp":1599264000000},"content-version":"vor","delay-in-days":248,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Continuous collision detetion is required for haptic interactions with thin and fast-moving objects. However, previous studies failed to eliminate the force artifacts caused by the tool\u2019s inertia. In this paper, we propose a multi-sphere proxy method for a 6-DoF deformable virtual tool with continuous collision detection. We use Zero-order Dynamics to avoid force artifacts caused by the tool\u2019s inertia. In addition, we eliminate the \u201ctunneling\u201d problem introduced by the use of Zero-order Dynamics. As a result, we support fast motions of both the tool and the virtual object with sphere-mesh-level contacts and real-time simulation. Stability is guaranteed via a position-based dynamics simulator and an optional multi-rate architecture.<\/jats:p>","DOI":"10.1007\/978-3-030-58147-3_27","type":"book-chapter","created":{"date-parts":[[2020,9,4]],"date-time":"2020-09-04T16:03:58Z","timestamp":1599235438000},"page":"244-252","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["A 6-DoF Zero-Order Dynamic Deformable Tool for Haptic Interactions of Deformable and Dynamic Objects"],"prefix":"10.1007","author":[{"given":"Haiyang","family":"Ding","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shoichi","family":"Hasegawa","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,9,5]]},"reference":[{"key":"27_CR1","doi-asserted-by":"crossref","unstructured":"Cirio, G., Marchal, M., Otaduy, M.A., L\u00e9cuyer, A.: Six-oof haptic interaction with fluids, solids, and their transitions. In: 2013 World Haptics Conference (WHC), pp. 157\u2013162. IEEE (2013)","DOI":"10.1109\/WHC.2013.6548401"},{"issue":"4","key":"27_CR2","doi-asserted-by":"publisher","first-page":"624","DOI":"10.1109\/TOH.2019.2934104","volume":"12","author":"H Ding","year":"2019","unstructured":"Ding, H., Mitake, H., Hasegawa, S.: Continuous collision detection for virtual proxy haptic rendering of deformable triangular mesh models. IEEE Trans. Haptics 12(4), 624\u2013634 (2019)","journal-title":"IEEE Trans. Haptics"},{"key":"27_CR3","doi-asserted-by":"crossref","unstructured":"Garre, C., Hern\u00e1ndez, F., Gracia, A., Otaduy, M.A.: Interactive simulation of a deformable hand for haptic rendering. In: 2011 IEEE World Haptics Conference, pp. 239\u2013244. IEEE (2011)","DOI":"10.1109\/WHC.2011.5945492"},{"issue":"6","key":"27_CR4","doi-asserted-by":"publisher","first-page":"689","DOI":"10.1016\/j.cag.2010.08.006","volume":"34","author":"C Garre","year":"2010","unstructured":"Garre, C., Otaduy, M.A.: Haptic rendering of objects with rigid and deformable parts. Comput. Graph. 34(6), 689\u2013697 (2010)","journal-title":"Comput. Graph."},{"key":"27_CR5","unstructured":"gotferdom: Free hand 3D model (2018). https:\/\/www.turbosquid.com\/3d-models\/hand-hdri-shader-3d-model-1311775. Accessed 25 Jan 2020"},{"key":"27_CR6","doi-asserted-by":"crossref","unstructured":"Mitra, P., Niemeyer, G.: Dynamic proxy objects in haptic simulations. In: 2004 IEEE Conference on Robotics, Automation and Mechatronics, vol. 2, pp. 1054\u20131059. IEEE (2004)","DOI":"10.1109\/RAMECH.2004.1438065"},{"issue":"4","key":"27_CR7","doi-asserted-by":"publisher","first-page":"367","DOI":"10.1162\/pres.16.4.367","volume":"16","author":"P Mitra","year":"2007","unstructured":"Mitra, P., Niemeyer, G.: Haptic simulation of manipulator collisions using dynamic proxies. Presence Teleoperators Virtual Environ. 16(4), 367\u2013384 (2007)","journal-title":"Presence Teleoperators Virtual Environ."},{"key":"27_CR8","doi-asserted-by":"publisher","first-page":"92","DOI":"10.1145\/2010324.1964987","volume":"30","author":"M M\u00fcller","year":"2011","unstructured":"M\u00fcller, M., Chentanez, N.: Solid simulation with oriented particles. ACM Trans. Graph. 30, 92 (2011)","journal-title":"ACM Trans. Graph."},{"key":"27_CR9","unstructured":"Ortega, M., Redon, S., Coquillart, S.: A six degree-of-freedom god-object method for haptic display of rigid bodies. In: IEEE Virtual Reality Conference (VR 2006), pp. 191\u2013198. IEEE (2006)"},{"issue":"9","key":"27_CR10","doi-asserted-by":"publisher","first-page":"2068","DOI":"10.1109\/JPROC.2013.2246131","volume":"101","author":"MA Otaduy","year":"2013","unstructured":"Otaduy, M.A., Garre, C., Lin, M.C.: Representations and algorithms for force-feedback display. Proc. IEEE 101(9), 2068\u20132080 (2013)","journal-title":"Proc. IEEE"},{"key":"27_CR11","doi-asserted-by":"crossref","unstructured":"Ruspini, D.C., Kolarov, K., Khatib, O.: The haptic display of complex graphical environments. In: Proceedings of the 24th Annual Conference on Computer Graphics and Interactive Techniques, pp. 345\u2013352 (1997)","DOI":"10.1145\/258734.258878"},{"key":"27_CR12","doi-asserted-by":"crossref","unstructured":"Wang, D., Tong, H., Shi, Y., Zhang, Y.: Interactive haptic simulation of tooth extraction by a constraint-based haptic rendering approach. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 278\u2013284. IEEE (2015)","DOI":"10.1109\/ICRA.2015.7139012"}],"container-title":["Lecture Notes in Computer Science","Haptics: Science, Technology, Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-58147-3_27","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,13]],"date-time":"2024-08-13T06:02:02Z","timestamp":1723528922000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-58147-3_27"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020]]},"ISBN":["9783030581466","9783030581473"],"references-count":12,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-58147-3_27","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2020]]},"assertion":[{"value":"5 September 2020","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"EuroHaptics","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Human Haptic Sensing and Touch Enabled Computer Applications","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Leiden","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"The Netherlands","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2020","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"6 September 2020","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"9 September 2020","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"12","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"eurohaptics2020","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/eurohaptics2020.org\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Single-blind","order":1,"name":"type","label":"Type","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Microsoft","order":2,"name":"conference_management_system","label":"Conference Management System","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"111","order":3,"name":"number_of_submissions_sent_for_review","label":"Number of Submissions Sent for Review","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"60","order":4,"name":"number_of_full_papers_accepted","label":"Number of Full Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"0","order":5,"name":"number_of_short_papers_accepted","label":"Number of Short Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"54% - The value is computed by the equation \"Number of Full Papers Accepted \/ Number of Submissions Sent for Review * 100\" and then rounded to a whole number.","order":6,"name":"acceptance_rate_of_full_papers","label":"Acceptance Rate of Full Papers","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"2,7","order":7,"name":"average_number_of_reviews_per_paper","label":"Average Number of Reviews per Paper","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"1,4","order":8,"name":"average_number_of_papers_per_reviewer","label":"Average Number of Papers per Reviewer","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Yes","order":9,"name":"external_reviewers_involved","label":"External Reviewers Involved","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}}]}}