Dangxiao Wang

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Six-degree-of-freedom (6-DOF) haptic rendering for fine manipulation in narrow space is a challenging topic because of frequent constraint changes caused by small tool movement and the requirement to preserve the feel of fine-features of objects. In this paper, we introduce a configuration-based constrained optimization method for solving this rendering(More)
Performance evaluation is indispensable for a surgical simulator to become acceptable. A haptics-based dental simulator (iDental) has been developed and preliminary user evaluation on its first-generation prototype has been carried out to gain the knowledge. Based on detailed requirement analysis of Periodontics procedures, a combined evaluation method(More)
Piecewise linear polygonal model has only G 0 continuity, thus users can easily feel the edges when using haptic device to touch a solid represented by coarse polygonal meshes. To produce an appealing haptic sensation for smooth solids, a large number of polygons are needed in conventional approaches. This, however, slows down computation and consumes much(More)
Human resolution of collocation error between haptic and stereoscopic displays influences the design of visuo-haptic rendering algorithms, yet it is not well characterized. In the present study, we propose quantified metrics to measure the visuo-haptic collocation error and a prototype based on half-silvered mirror is established to validate the metrics.(More)
— This paper presents a novel constraint-based six degree-of-freedom (6-DoF) haptic rendering algorithm for simulating both contact forces and torques between interacting rigid bodies. We represent an object using a hierarchy of spheres, i.e., a sphere-tree. Such a representation allows fast detection of multiple contacts/collisions among objects and(More)