{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,1]],"date-time":"2026-02-01T01:29:41Z","timestamp":1769909381900,"version":"3.49.0"},"reference-count":70,"publisher":"ASME International","issue":"2","content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2016,6,1]]},"abstract":"<jats:p>Haptic-assisted virtual assembly and prototyping has seen significant attention over the past two decades. However, in spite of the appealing prospects, its adoption has been slower than expected. We identify the main roadblocks as the inherent geometric complexities faced when assembling objects of arbitrary shape, and the computation time limitation imposed by the notorious 1\u2009kHz haptic refresh rate. We addressed the first problem in a recent work by introducing a generic energy model for geometric guidance and constraints between features of arbitrary shape. In the present work, we address the second challenge by leveraging Fourier transforms to compute the constraint forces and torques. Our new concept of \u201cgeometric energy\u201d field is computed automatically from a cross-correlation of \u201cskeletal densities\u201d in the frequency domain, and serves as a generalization of the manually specified virtual fixtures or heuristically identified mating constraints proposed in the literature. The formulation of the energy field as a convolution enables efficient computation using fast Fourier transforms (FFTs) on the graphics processing unit (GPU). We show that our method is effective for low-clearance assembly of objects of arbitrary geometric and syntactic complexity.<\/jats:p>","DOI":"10.1115\/1.4032696","type":"journal-article","created":{"date-parts":[[2016,2,11]],"date-time":"2016-02-11T02:31:03Z","timestamp":1455157863000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":3,"title":["Haptic Assembly Using Skeletal Densities and Fourier Transforms1"],"prefix":"10.1115","volume":"16","author":[{"given":"Morad","family":"Behandish","sequence":"first","affiliation":[{"name":"Computational Design Laboratory, Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06269 e-mail:"}]},{"given":"Horea T.","family":"Ilie\u015f","sequence":"additional","affiliation":[{"name":"Computational Design Laboratory, Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06269 e-mail:"}]}],"member":"33","published-online":{"date-parts":[[2016,3,11]]},"reference":[{"key":"2019100601562557500_bib1","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2015-47923","article-title":"Haptic Assembly Using Skeletal Densities and Fourier Transforms","volume-title":"ASME","year":"2015"},{"key":"2019100601562557500_bib2","unstructured":"Bullinger, H. J., Breining, R., and Bauer, W., 1999, \u201cVirtual Prototyping-State of the Art in Product Design,\u201d 26th International Conference on Computers and Industrial Engineering, pp. 103\u2013107."},{"issue":"3","key":"2019100601562557500_bib3","doi-asserted-by":"publisher","first-page":"232","DOI":"10.1115\/1.1526508","article-title":"Definition and Review of Virtual Prototyping","volume":"2","year":"2002","journal-title":"ASME J. Comput. Inf. Sci. Eng."},{"issue":"1","key":"2019100601562557500_bib4","doi-asserted-by":"publisher","first-page":"16","DOI":"10.1016\/S0278-6125(03)90002-1","article-title":"Virtual Prototyping of Assembly Components Using Process Modeling","volume":"22","year":"2003","journal-title":"J. Manuf. Syst."},{"issue":"3","key":"2019100601562557500_bib5","doi-asserted-by":"publisher","first-page":"377","DOI":"10.1016\/j.cag.2006.02.012","article-title":"Haptic Technologies for the Conceptual and Validation Phases of Product Design","volume":"30","year":"2006","journal-title":"Comput. Graphics"},{"key":"2019100601562557500_bib6","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2006-99476","article-title":"SHARP: A System for Haptic Assembly and Realistic Prototyping","volume-title":"ASME","year":"2006"},{"issue":"4","key":"2019100601562557500_bib7","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1115\/1.3006306","article-title":"Development of a Dual-Handed Haptic Assembly System: SHARP","volume":"8","year":"2008","journal-title":"ASME J. Comput. Inf. Sci. Eng."},{"issue":"3","key":"2019100601562557500_bib8","doi-asserted-by":"publisher","first-page":"389","DOI":"10.1016\/S0097-8493(99)00047-3","article-title":"Virtual Reality as a Tool for Verification of Assembly and Maintenance Processes","volume":"23","year":"1999","journal-title":"Comput. Graphics"},{"issue":"2","key":"2019100601562557500_bib9","doi-asserted-by":"publisher","first-page":"123","DOI":"10.1115\/1.1384566","article-title":"Effectiveness of Haptic Sensation for the Evaluation of Virtual Prototypes","volume":"1","year":"2001","journal-title":"ASME J. Comput. Inf. Sci. Eng."},{"issue":"1","key":"2019100601562557500_bib10","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1007\/s10055-009-0153-y","article-title":"Virtual Reality for Assembly Methods Prototyping: A Review","volume":"15","year":"2011","journal-title":"Virtual Reality"},{"key":"2019100601562557500_bib11","doi-asserted-by":"publisher","DOI":"10.1115\/WINVR2011-5570","article-title":"A Conceptual Framework to Support Natural Interaction for Virtual Assembly Tasks","volume-title":"ASME","year":"2011"},{"issue":"3","key":"2019100601562557500_bib12","doi-asserted-by":"publisher","first-page":"214","DOI":"10.1108\/AA-03-2013-017","article-title":"Interactive Assembly Simulation With Haptic Feedback","volume":"33","year":"2013","journal-title":"Assem. Autom."},{"key":"2019100601562557500_bib13","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2014-35290","article-title":"Peg-in-Hole Revisited: A Generic Force Model for Haptic Assembly","volume-title":"ASME","year":"2014"},{"issue":"4","key":"2019100601562557500_bib14","doi-asserted-by":"publisher","first-page":"041004","DOI":"10.1115\/1.4030749","article-title":"Peg-in-Hole Revisited: A Generic Force Model for Haptic Assembly","volume":"15","year":"2015","journal-title":"ASME J. Comput. Inf. Sci. Eng."},{"key":"2019100601562557500_bib15","doi-asserted-by":"crossref","unstructured":"Lysenko, M., Nelaturi, S., and Shapiro, V., 2010, \u201cGroup Morphology With Convolution Algebras,\u201d 14th ACM Symposium on Solid and Physical Modeling (SPM\u20192010), pp. 11\u201322.","DOI":"10.1145\/1839778.1839781"},{"issue":"4","key":"2019100601562557500_bib16","doi-asserted-by":"publisher","first-page":"483","DOI":"10.1177\/0278364913477165","article-title":"Fourier Collision Detection","volume":"32","year":"2013","journal-title":"Int. J. Rob. Res."},{"key":"2019100601562557500_bib17","doi-asserted-by":"publisher","first-page":"100","DOI":"10.1016\/j.cad.2015.06.016","article-title":"Analytic Methods for Geometric Modeling Via Spherical Decomposition","volume":"70","year":"2015","journal-title":"Comput.-Aided Des."},{"issue":"6","key":"2019100601562557500_bib18","doi-asserted-by":"publisher","first-page":"877","DOI":"10.1016\/S0031-3203(99)00152-1","article-title":"Group Morphology","volume":"33","year":"2000","journal-title":"Pattern Recognit."},{"issue":"7","key":"2019100601562557500_bib19","doi-asserted-by":"publisher","first-page":"781","DOI":"10.1016\/j.cad.2010.09.007","article-title":"Configuration Products and Quotients in Geometric Modeling","volume":"43","year":"2011","journal-title":"Comput.-Aided Des."},{"key":"2019100601562557500_bib20","article-title":"Shape Complementarity Analysis for Objects of Arbitrary Shape","year":"2014"},{"issue":"2","key":"2019100601562557500_bib21","doi-asserted-by":"publisher","first-page":"108","DOI":"10.1109\/TC.1983.1676196","article-title":"Spatial Planning: A Configuration Space Approach","volume":"C-32","year":"1983","journal-title":"IEEE Trans. Comput."},{"issue":"3","key":"2019100601562557500_bib22","doi-asserted-by":"publisher","first-page":"408","DOI":"10.1109\/70.388783","article-title":"Computation of Configuration-Space Obstacles Using the Fast Fourier Transform","volume":"11","year":"1995","journal-title":"IEEE Trans. Rob. Autom."},{"key":"2019100601562557500_bib23","doi-asserted-by":"crossref","unstructured":"Chan, L. S. H., and Choi, K. S., 2009, \u201cIntegrating PhysX and OpenHaptics: Efficient Force Feedback Generation Using Physics Engine and Haptic Devices,\u201d Joint Conferences on Pervasive Computing (JCPC\u20192009), Institute of Electrical and Electronics Engineers (IEEE), pp. 853\u2013858.","DOI":"10.1109\/JCPC.2009.5420068"},{"key":"2019100601562557500_bib24","unstructured":"Sagardia, M., Stouraitis, T., and Silva, J. L. E., 2014, \u201cA New Fast and Robust Collision Detection and Force Computation Algorithm Applied to the Physics Engine Bullet: Method, Integration, and Evaluation,\u201d Conference and Exhibition of the European Association of Virtual and Augmented Reality (EuroVR\u20192014)."},{"key":"2019100601562557500_bib25","unstructured":"Renouf, M., Acary, V., and Dumont, G., 2005, \u201c3D Frictional Contact and Impact Multibody Dynamics. A Comparison of Algorithms Suitable for Real-Time Applications,\u201d ECCOMAS Thematic Conference on Multibody Dynamics."},{"key":"2019100601562557500_bib26","doi-asserted-by":"crossref","unstructured":"Tching, L., and Dumont, G., 2008, \u201cHaptic Simulations Based on Non-Smooth Dynamics for Rigid-Bodies,\u201d 15th ACM Symposium on Virtual Reality Software and Technology (VRST\u20192008), Association for Computing Machinery (ACM), pp. 87\u201390.","DOI":"10.1145\/1450579.1450597"},{"key":"2019100601562557500_bib27","unstructured":"Lin, M., and Gottschalk, S., 1998, \u201cCollision Detection Between Geometric Models: A Survey,\u201d IMA Conference on Mathematics of Surfaces, Vol. 1, pp. 37\u201356."},{"issue":"2","key":"2019100601562557500_bib28","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1016\/S0097-8493(00)00130-8","article-title":"3D Collision Detection: A Survey","volume":"25","year":"2001","journal-title":"Comput. Graphics"},{"key":"2019100601562557500_bib29","doi-asserted-by":"crossref","unstructured":"Kockara, S., Halic, T., Iqbal, K., Bayrak, C., and Rowe, R., 2007, \u201cCollision Detection: A Survey,\u201d IEEE International Conference on Systems, Man and Cybernetics (ISIC\u20192007), Institute of Electrical and Electronics Engineers (IEEE), pp. 4046\u20134051.","DOI":"10.1109\/ICSMC.2007.4414258"},{"key":"2019100601562557500_bib30","doi-asserted-by":"crossref","unstructured":"Hasegawa, S., and Fujii, N., 2003, \u201cReal-Time Rigid Body Simulation Based on Volumetric Penalty Method,\u201d 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Institute of Electrical and Electronics Engineers (IEEE), pp. 326\u2013332.","DOI":"10.1109\/HAPTIC.2003.1191304"},{"issue":"3","key":"2019100601562557500_bib31","doi-asserted-by":"publisher","first-page":"529","DOI":"10.1111\/j.1467-8659.2004.00784.x","article-title":"Real-Time Rigid Body Simulation for Haptic Interactions Based on Contact Volume of Polygonal Objects","volume":"23","year":"2004","journal-title":"Comput. Graphics Forum"},{"issue":"2","key":"2019100601562557500_bib32","doi-asserted-by":"publisher","first-page":"370","DOI":"10.1137\/0905028","article-title":"Numerical Simulation of Time-Dependent Contact and Friction Problems in Rigid Body Mechanics","volume":"5","year":"1984","journal-title":"SIAM J. Sci. Stat. Comput."},{"issue":"1","key":"2019100601562557500_bib33","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1137\/S0036144599360110","article-title":"Rigid-Body Dynamics With Friction and Impact","volume":"42","year":"2000","journal-title":"SIAM Rev."},{"issue":"1","key":"2019100601562557500_bib34","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1016\/S0097-8493(02)00228-5","article-title":"A Constraint Manager to Support Virtual Maintainability","volume":"27","year":"2003","journal-title":"Comput. Graphics"},{"key":"2019100601562557500_bib35","doi-asserted-by":"crossref","unstructured":"Murray, N., and Fernando, T., 2004, \u201cAn Immersive Assembly and Maintenance Simulation Environment,\u201d IEEE International Symposium on Distributed Simulation and Real-Time Applications (DS-RT\u20192004), Institute of Electrical and Electronics Engineers (IEEE), pp. 159\u2013166.","DOI":"10.1109\/DS-RT.2004.7"},{"issue":"11","key":"2019100601562557500_bib36","doi-asserted-by":"publisher","first-page":"973","DOI":"10.1007\/s00371-008-0275-3","article-title":"Contact Identification for Assembly-Disassembly Simulation With a Haptic Device","volume":"24","year":"2008","journal-title":"Visual Comput."},{"issue":"2","key":"2019100601562557500_bib37","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1007\/s12008-011-0120-1","article-title":"Assembly Simulation Incorporating Component Mobility Modelling Based on Functional Surfaces","volume":"5","year":"2011","journal-title":"Int. J. Interact. Des. Manuf."},{"key":"2019100601562557500_bib38","unstructured":"Boussuge, F., L\u00e9on, J. C., Hahmann, S., and Fine, L., 2012, \u201cAn Analysis of DMU Transformation Requirements for Structural Assembly Simulations,\u201d 8th International Conference on Engineering Computational Technology."},{"issue":"3","key":"2019100601562557500_bib39","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1145\/285857.285860","article-title":"V-Clip: Fast and Robust Polyhedral Collision Detection","volume":"17","year":"1998","journal-title":"ACM Trans. Graphics"},{"key":"2019100601562557500_bib40","doi-asserted-by":"crossref","unstructured":"Ehmann, S. A., and Lin, M. C., 2000, \u201cAccelerated Proximity Queries Between Convex Polyhedra by Multi-Level Voronoi Marching,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS'2000), Vol. 3, Institute of Electrical and Electronics Engineers (IEEE).","DOI":"10.1109\/IROS.2000.895281"},{"issue":"3","key":"2019100601562557500_bib41","doi-asserted-by":"publisher","first-page":"500","DOI":"10.1111\/1467-8659.00543","article-title":"Accurate and Fast Proximity Queries Between Polyhedra Using Convex Surface Decomposition","volume":"20","year":"2001","journal-title":"Comput. Graphics Forum"},{"key":"2019100601562557500_bib42","doi-asserted-by":"crossref","unstructured":"Gregory, A., Lin, M. C., Gottschalk, S., and Taylor, R., 1999, \u201cA Framework for Fast and Accurate Collision Detection for Haptic Interaction,\u201d ACM SIGGRAPH 2005 Courses, Vol. 34, Association for Computing Machinery (ACM), pp. 38\u201345.","DOI":"10.1145\/1198555.1198604"},{"key":"2019100601562557500_bib43","doi-asserted-by":"crossref","unstructured":"Gottschalk, S., Lin, M. C., and Manocha, D., 1996, \u201cOBBTree: A Hierarchical Structure for Rapid Interference Detection,\u201d 23rd Annual Conference on Computer Graphics and Interactive Techniques, pp. 171\u2013180.","DOI":"10.1145\/237170.237244"},{"key":"2019100601562557500_bib44","doi-asserted-by":"crossref","unstructured":"McNeely, W. A., Puterbaugh, K. D., and Troy, J. J., 2005, \u201cSix Degree-of-Freedom Haptic Rendering Using Voxel Sampling,\u201d ACM SIGGRAPH\u20192005 Courses, Vol. 42, Association for Computing Machinery (ACM).","DOI":"10.1145\/1198555.1198605"},{"issue":"7","key":"2019100601562557500_bib45","doi-asserted-by":"publisher","DOI":"10.1145\/1198555.1198606","article-title":"Voxel-Based 6-DOF Haptic Rendering Improvements","volume":"3","year":"2006","journal-title":"Haptics-e"},{"key":"2019100601562557500_bib46","unstructured":"Barbi\u010d, J., and James, D., 2007, \u201cTime-Critical Distributed Contact for 6-DOF Haptic Rendering of Adaptively Sampled Reduced Deformable Models,\u201d ACM SIGGRAPH\u20192007\/Eurographics Symposium on Computer Animation, Association for Computing Machinery (ACM), pp. 171\u2013180."},{"key":"2019100601562557500_bib47","unstructured":"Sagardia, M., Hulin, T., Preusche, C., and Hirzinger, G., 2008, \u201cImprovements of the Voxmap-PointShell Algorithm-Fast Generation of Haptic Data-Structures,\u201d 53rd Internationales Wissenschaftliches Kolloquium, Technische Universit\u00e4t Ilmenau."},{"issue":"3","key":"2019100601562557500_bib48","doi-asserted-by":"publisher","first-page":"179","DOI":"10.1145\/231731.231732","article-title":"Approximating Polyhedra With Spheres for Time-Critical Collision Detection","volume":"15","year":"1996","journal-title":"ACM Trans. Graphics"},{"issue":"1","key":"2019100601562557500_bib49","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/966131.966132","article-title":"Adaptive Medial-Axis Approximation for Sphere-Tree Construction","volume":"23","year":"2004","journal-title":"ACM Trans. Graphics"},{"key":"2019100601562557500_bib50","doi-asserted-by":"crossref","unstructured":"Weller, R., and Zachmann, G., 2009, \u201cInner Sphere Trees for Proximity and Penetration Queries,\u201d Robotics: Science and Systems Conference (RSS'2009), Vol. 2.","DOI":"10.15607\/RSS.2009.V.010"},{"key":"2019100601562557500_bib51","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1007\/978-3-211-99178-7_10","article-title":"Inner Sphere Trees and Their Application to Collision Detection","volume-title":"Virtual Realities","year":"2011"},{"key":"2019100601562557500_bib52","doi-asserted-by":"crossref","unstructured":"Ruffaldi, E., Morris, D., Barbagli, F., Salisbury, K., and Bergamasco, M., 2008, \u201cVoxel-Based Haptic Rendering Using Implicit Sphere Trees,\u201d 16th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Institute of Electrical and Electronics Engineers (IEEE), pp. 319\u2013325.","DOI":"10.1109\/HAPTICS.2008.4479964"},{"key":"2019100601562557500_bib53","doi-asserted-by":"crossref","unstructured":"Weller, R., and Zachmann, G., 2009, \u201cA Unified Approach for Physically-Based Simulations and Haptic Rendering,\u201d ACM SIGGRAPH\u20192009 Symposium on Video Games, Association for Computing Machinery (ACM), pp. 151\u2013159.","DOI":"10.1145\/1581073.1581097"},{"key":"2019100601562557500_bib54","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2009-87209","article-title":"Stable 6-DOF Haptic Rendering With Inner Sphere Trees","volume-title":"ASME","year":"2009"},{"key":"2019100601562557500_bib55","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2007-34681","article-title":"Combining Geometric Constraints With Physics Modeling for Virtual Assembly Using SHARP","volume-title":"ASME","year":"2007"},{"issue":"8","key":"2019100601562557500_bib56","doi-asserted-by":"publisher","first-page":"081002","DOI":"10.1115\/1.4001565","article-title":"Combining Dynamic Modeling With Geometric Constraint Management to Support Low Clearance Virtual Manual Assembly","volume":"132","year":"2010","journal-title":"ASME J. Mech. Des."},{"issue":"6","key":"2019100601562557500_bib57","doi-asserted-by":"publisher","first-page":"44","DOI":"10.1109\/38.799739","article-title":"VADE: A Virtual Assembly Design Environment","volume":"19","year":"1999","journal-title":"J. Comput. Graphics Appl."},{"key":"2019100601562557500_bib58","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2004-57660","article-title":"MIVAS: A Multi-Modal Immersive Virtual Assembly System","volume-title":"ASME","year":"2004"},{"issue":"2","key":"2019100601562557500_bib59","doi-asserted-by":"publisher","first-page":"95","DOI":"10.1007\/s12008-010-0091-7","article-title":"Interactive Simulation of CAD Models Assemblies Using Virtual Constraint Guidance","volume":"4","year":"2010","journal-title":"Int. J. Interact. Des. Manuf."},{"key":"2019100601562557500_bib60","doi-asserted-by":"crossref","unstructured":"Rosenberg, L. B., 1993, \u201cVirtual Fixtures: Perceptual Tools for Telerobotic Manipulation,\u201d IEEE Virtual Reality Annual International Symposium, Institute of Electrical and Electronics Engineers (IEEE), pp. 76\u201382.","DOI":"10.1109\/VRAIS.1993.380795"},{"key":"2019100601562557500_bib61","volume-title":"An Introduction to Harmonic Analysis","year":"2004","edition":"3rd ed."},{"issue":"90","key":"2019100601562557500_bib62","doi-asserted-by":"publisher","first-page":"297","DOI":"10.1090\/S0025-5718-1965-0178586-1","article-title":"An Algorithm for the Machine Calculation of Complex Fourier Series","volume":"19","year":"1965","journal-title":"Math. Comput."},{"key":"2019100601562557500_bib63","article-title":"Mathematical Models of Rigid Solid Objects","year":"1980"},{"issue":"2","key":"2019100601562557500_bib64","doi-asserted-by":"publisher","first-page":"149","DOI":"10.1023\/B:JODS.0000024119.38784.ff","article-title":"Stability and Finiteness Properties of Medial Axis and Skeleton","volume":"10","year":"2004","journal-title":"J. Dyn. Control Syst."},{"key":"2019100601562557500_bib65","first-page":"235","article-title":"A New Approach to Point Membership Classification in B-Rep Solids","volume-title":"Mathematics of Surfaces XIII","year":"2009"},{"key":"2019100601562557500_bib66","article-title":"Representations of Rigid Solid Objects","year":"1980"},{"issue":"1","key":"2019100601562557500_bib67","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1007\/s007910050004","article-title":"NETGEN: An Advancing Front 2D\/3D-Mesh Generator Based on Abstract Rules","volume":"1","year":"1997","journal-title":"Comput. Visualization Sci."},{"key":"2019100601562557500_bib68","doi-asserted-by":"crossref","unstructured":"Hoff, K. E., III, Culver, T., Keyser, J., Lin, M., and Manocha, D., 1999, \u201cFast Computation of Generalized Voronoi Diagrams Using Graphics Hardware,\u201d 26th Annual Conference on Computer Graphics and Interactive Techniques, Association for Computing Machinery (ACM), pp. 277\u2013286.","DOI":"10.1145\/311535.311567"},{"key":"2019100601562557500_bib69","volume-title":"The Boost C++ Libraries","year":"2014"},{"issue":"2","key":"2019100601562557500_bib70","doi-asserted-by":"publisher","first-page":"216","DOI":"10.1109\/JPROC.2004.840301","article-title":"The Design and Implementation of FFTW3","volume":"93","year":"2005","journal-title":"Proc. IEEE"}],"container-title":["Journal of Computing and Information Science in Engineering"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/asmedigitalcollection.asme.org\/computingengineering\/article-pdf\/doi\/10.1115\/1.4032696\/6101050\/jcise_016_02_021002.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"http:\/\/asmedigitalcollection.asme.org\/computingengineering\/article-pdf\/doi\/10.1115\/1.4032696\/6101050\/jcise_016_02_021002.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,1]],"date-time":"2025-06-01T10:36:46Z","timestamp":1748774206000},"score":1,"resource":{"primary":{"URL":"https:\/\/asmedigitalcollection.asme.org\/computingengineering\/article\/doi\/10.1115\/1.4032696\/474292\/Haptic-Assembly-Using-Skeletal-Densities-and"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,3,11]]},"references-count":70,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2016,6,1]]}},"URL":"https:\/\/doi.org\/10.1115\/1.4032696","relation":{},"ISSN":["1530-9827","1944-7078"],"issn-type":[{"value":"1530-9827","type":"print"},{"value":"1944-7078","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,3,11]]},"article-number":"021002"}}