• Publications
  • Influence
Real-time Physics-based Motion Capture with Sparse Sensors
TLDR
This work proposes a framework for real-time tracking of humans using sparse multi-modal sensor sets, including data obtained from optical markers and inertial measurement units, and shows that the system can track and simulate a wide range of dynamic movements including bipedal gait, ballistic movements such as jumping, and interaction with the environment. Expand
Goal directed multi-finger manipulation: Control policies and analysis
TLDR
This work presents a method for one-handed, task-based manipulation of objects that uses a mid-level, multi-phase approach to organize the problem into three phases and results in cyclic finger motions that accomplish the task. Expand
Interactive Scanning of Haptic Textures and Surface Compliance
  • S. Andrews, J. Lang
  • Computer Science
  • Sixth International Conference on 3-D Digital…
  • 21 August 2007
TLDR
A hand-held scanning approach for the acquisition of physical surface texture (roughness) of real- world 3D objects using a low-cost mobile touch probe and image-based tracking to allow an operator to interactively scan a real-world object and generate estimates of surface texture and compliance. Expand
HAMLAT: A HAML-Based Authoring Tool for Haptic Application Development
TLDR
An authoring tool based on the HAML description language that allows users to render the graphics and haptics of a virtual environment with no programming skills and proves the simplicity and efficiency of prototyping haptic applications for non-programmer developers or artists. Expand
HaptiCast : A Physically-Based 3 D Game with Haptic Feedback
Modern haptic technology allows users to receive realistic kinesthetic and tactile cues in a computer generated environment. When applied to video games, it gives players a higher sense of immersionExpand
Measurement-Based Modeling of Contact Forces and Textures for Haptic Rendering
  • J. Lang, S. Andrews
  • Computer Science, Medicine
  • IEEE Transactions on Visualization and Computer…
  • 1 May 2011
TLDR
This work introduces an interactive and mobile scanning system for the acquisition and synthesis of haptic textures that consists of a visually tracked handheld touch probe and an estimation method for the contact stiffness of an object based solely on the acceleration and forces measured during stroking of its surface with the handheld probe. Expand
Geometric Stiffness for Real‐time Constrained Multibody Dynamics
TLDR
This paper proposes an adaptive damping scheme that uses a stability criterion based on the numerical integrator to determine the amount of non‐constitutive damping required to stabilize the simulation, and increases stability by orders of magnitude compared to previous work. Expand
Inverse kinematics problems with exact Hessian matrices
TLDR
This paper presents a numerical method for computing the exact Hessian of an IK system with spherical joints and shows that using exact Hessians can give performance advantages and higher accuracy compared to standard numerical methods used for solving IK problems. Expand
Extending Blender: Development of a Haptic Authoring Tool
TLDR
The work to extend a well known 3D graphic modeler - Blender - to support haptic modeling and rendering is presented, and the extension tool is named HAMLAT (haptic application markup language authoring tool). Expand
Haptic Texturing based on Real-World Samples
  • S. Andrews, J. Lang
  • Computer Science
  • IEEE International Workshop on Haptic, Audio and…
  • 29 October 2007
TLDR
This paper discusses how textures generated by the system may be registered with object geometry and integrated as part of the standard 3D model acquisition pipeline. Expand
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