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- Title
Stable Haptic Rendering Using a Pipelined Threading Architecture.
- Authors
Xiong Lu; Hao Zhao; Yong-Qiang Ye
- Abstract
The high force update rate is a key factor for achieving high performance of haptic rendering, which imposes a stringent real-time requirement upon the execution environment of the haptic system. To fulfil this requirement, haptic systems are often limited to simplified virtual environments (VEs) for reducing computational load. This paper presents a novel pipelined threading architecture, which uses several threads running consecutively for implementing haptic rendering algorithms. With the proposed method, the haptic forces updating rate is effectively increased, which leads to improved system performance and makes complex VE scenes possible in haptic rendering. Based on the 3-DOF Delta haptic device, experiments with a virtual wall haptic system are carried out and verify the proposed method.
- Subjects
HAPTIC devices; RENDERING algorithms; THREADS (Computer programs); COMPUTER architecture; SYSTEMS theory; AUTOMATIC identification
- Publication
International Journal of Advanced Robotic Systems, 2012, Vol 9, Issue 10, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/51320