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New Geometric Data Structures for Collision Detection and Haptics

Part of the book series: Springer Series on Touch and Haptic Systems ((SSTHS))

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Abstract

In this chapter, we present three new applications that we realized using our new data structures from the previous chapters. First, we adopted our sphere packings to define a new volume preserving deformation scheme, the sphere-spring system, that extends the classical mass-spring systems. Second, we show an application of our Inner Sphere Trees to real-time obstacle avoidance in dynamic environments for autonomous robots. Finally, we present the results of a comprehensive user study that evaluates the influence of the degrees of freedom on the users performance in complex bi-manual haptic interaction tasks.

Parts of this work have been previously published in [61–63].

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  1. Department of Computer Science, University of Bremen, Bremen, Germany

    René Weller

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  1. René Weller
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Weller, R. (2013). Applications. In: New Geometric Data Structures for Collision Detection and Haptics. Springer Series on Touch and Haptic Systems. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-01020-5_7

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  • DOI: https://doi.org/10.1007/978-3-319-01020-5_7

  • Publisher Name: Springer, Heidelberg

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