http://www.idiap.ch/uist2006/ Procedural Haptic Texture en Tue, 17 Oct 2006 00:00:00 +0200 no Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 Procedural Haptic Texture Jeremy Shopf Marc Olano University of Maryland, Baltimore County UIST 2006 Procedural Haptic Texture Jeremy Shopf Marc Olano University of Maryland, Baltimore County UIST 2006 00:00:26 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Introduction o We have designed a system for procedurally defining haptic surface interaction o Background Haptic Rendering Haptic Texture Procedural Shading UIST 2006 UMBC Introduction o We have designed a system for procedurally defining haptic surface interaction o Background Haptic Rendering Haptic Texture Procedural Shading UIST 2006 00:00:30 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Haptics o Creating a sense of touch through the use of force-feedback o Increasing user experience by adding another mode of interaction o Essential to creating an immersive virtual experience SensAbte PHAflTof UIST 2006 UMBC Haptics o Creating a sense of touch through the use of force-feedback o Increasing user experience by adding another mode of interaction o Essential to creating an immersive virtual experience SensAbte PHAflTof UIST 2006 00:00:41 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 o Surgical simulation o Molecular modeling o Teleoperation Telembotics Telemedicine o Virtual prototyping Iacje oourlesy of Or Roger Webster UZST 2006 o Surgical simulation o Molecular modeling o Teleoperation Telembotics Telemedicine o Virtual prototyping Iacje oourlesy of Or Roger Webster UZST 2006 00:00:13 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Haptic Force Models o Generate response fOFCeS based on the position of the haptic cursor in Surface the scene o Restorative force based on Hooke s k stiffness of object UIST 2006 UMBC Haptic Force Models o Generate response fOFCeS based on the position of the haptic cursor in Surface the scene o Restorative force based on Hooke s k stiffness of object UIST 2006 00:01:05 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Haptic Force Models o Generate response fOFCeS based on the position of the haptic cursor in the scene o Restorative force based on Hooke s k stiffness of object UIST 2006 UMBC Haptic Force Models o Generate response fOFCeS based on the position of the haptic cursor in the scene o Restorative force based on Hooke s k stiffness of object UIST 2006 00:00:26 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Haptic Texturing o Adding tangential forces creates the sensation of surface friction and texture Minsky95 o Increases realism o Convey information Molecular biology example Changing information requires flexibility UIST 2006 UMBC Haptic Texturing o Adding tangential forces creates the sensation of surface friction and texture Minsky95 o Increases realism o Convey information Molecular biology example Changing information requires flexibility UIST 2006 00:01:30 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Procedural Shading o Defining the visual appearance of an object with a short procedure or o Pixar s RENDERMAN Hanrahan90 UIST 2006 UMBC Procedural Shading o Defining the visual appearance of an object with a short procedure or o Pixar s RENDERMAN Hanrahan90 UIST 2006 00:00:49 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Stochastic Methods o Use noise to create pseudo- randomness AN Pmcedu Wood Demo WWW.lXVFdy.O UZST 2006 UMBC Stochastic Methods o Use noise to create pseudo- randomness AN Pmcedu Wood Demo WWW.lXVFdy.O UZST 2006 00:01:11 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Motivation o Describe haptic surface characteristics with short procedures shaders o Provide familiar shading environment C, RENDERMAN o Compatible with existing force UIST 2006 UMBC Motivation o Describe haptic surface characteristics with short procedures shaders o Provide familiar shading environment C, RENDERMAN o Compatible with existing force UIST 2006 00:00:58 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 Haptic Shading Framework o Features User-defined surface characteristics UZST 2006 Haptic Shading Framework o Features User-defined surface characteristics UZST 2006 00:00:16 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Haptic Shading Framework o Features User-defined surface characteristics User-defined shader parameters that can be changed during execution UIST 2006 UMBC Haptic Shading Framework o Features User-defined surface characteristics User-defined shader parameters that can be changed during execution UIST 2006 00:00:38 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Haptic Shading Framework o Features User-defined surface characteristics User-defined shader parameters that can be changed during execution o Adjust size of surface features Apply to arbitrary geometry UIST 2006 UMBC Haptic Shading Framework o Features User-defined surface characteristics User-defined shader parameters that can be changed during execution o Adjust size of surface features Apply to arbitrary geometry UIST 2006 00:00:18 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Standard Haptic Rendering Haptic UIST 2006 UMBC Standard Haptic Rendering Haptic UIST 2006 00:00:21 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Haptic Shading Framework Haptic Haptic Haptic Shader Persistent Texture Data UIST 2006 UMBC Haptic Shading Framework Haptic Haptic Haptic Shader Persistent Texture Data UIST 2006 00:00:41 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC System Shader Parameters Haptic texture inputs Haptic texture outputs Surface position Displaced surface position Surface nonnal Perturbed surface normal Collision force Collision force text force Static friction Static friction Dynamic friction Dvnamic friction W Pmistmt Imam Data Persisteat Textm Data Stiffness Stiffness Damping Damping Proxy dizectioa Proxy acceleration Proxy vdocity Surface parameters UIST 2006 UMBC System Shader Parameters Haptic texture inputs Haptic texture outputs Surface position Displaced surface position Surface nonnal Perturbed surface normal Collision force Collision force text force Static friction Static friction Dynamic friction Dvnamic friction W Pmistmt Imam Data Persisteat Textm Data Stiffness Stiffness Damping Damping Proxy dizectioa Proxy acceleration Proxy vdocity Surface parameters UIST 2006 00:00:07 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC System Shader Parameters Haptic texture inputs Haptic texture outputs Surface position Collision force Collision force texture force Persistent Texture Data Pmistatt Ttum Data Proxy direction Proxy accelexation Proxy velocity UIST 2006 UMBC System Shader Parameters Haptic texture inputs Haptic texture outputs Surface position Collision force Collision force texture force Persistent Texture Data Pmistatt Ttum Data Proxy direction Proxy accelexation Proxy velocity UIST 2006 00:00:40 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Anatomy of a Haptic Shader Fetch user-defined parameters Shader Body Return Results UIST 2006 UMBC Anatomy of a Haptic Shader Fetch user-defined parameters Shader Body Return Results UIST 2006 00:00:36 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Fetch User-defined Parameters float ringscale params.GeWalueringscale, 5.0 float lightwood statid paranGetValuelightwood statid, 0.02 float lightwood dynF- float darkwoedstaticF params.GetValuedarkwood staticF 0.5 float darkwood dynF paranGetValuedarkwood dynF, 0.5 Return Results UIST 2006 UMBC Fetch User-defined Parameters float ringscale params.GeWalueringscale, 5.0 float lightwood statid paranGetValuelightwood statid, 0.02 float lightwood dynF- float darkwoedstaticF params.GetValuedarkwood staticF 0.5 float darkwood dynF paranGetValuedarkwood dynF, 0.5 Return Results UIST 2006 00:00:43 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC HapticTextureOut output Shader Body B vect3 PP, ring positron r to select wood friction after.staticF mixlightwood staticF, darkwood stalicF, r after.dynamicF mixlighlood dynF, darkwood dynF, r after.f before.f UMBC HapticTextureOut output Shader Body B vect3 PP, ring positron r to select wood friction after.staticF mixlightwood staticF, darkwood stalicF, r after.dynamicF mixlighlood dynF, darkwood dynF, r after.f before.f 00:00:49 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Anatomy of a Haptic Shader Fetch user-defined paFameteps Shader PP befare.p mlseBbebre.p Return Results UIST 2006 UMBC Anatomy of a Haptic Shader Fetch user-defined paFameteps Shader PP befare.p mlseBbebre.p Return Results UIST 2006 00:00:06 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Comparison to Visual Shading Insufficient Shader Interactive Refresh Executions Reqs Haptic Instability Rendenng Srinivasan97 Flickering Graphics UZST 2006 UMBC Comparison to Visual Shading Insufficient Shader Interactive Refresh Executions Reqs Haptic Instability Rendenng Srinivasan97 Flickering Graphics UZST 2006 00:01:51 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Dynamic Surface Characteristics o Model virtual geometry o Change surface properties based on proxy movement o Change surface properties using stochastic methods o Change surface properties based on user-interaction with the object UIST 2006 UMBC Dynamic Surface Characteristics o Model virtual geometry o Change surface properties based on proxy movement o Change surface properties using stochastic methods o Change surface properties based on user-interaction with the object UIST 2006 00:00:43 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Dynamic Surface Characteristics o Model virtual geometry o Add small-scale surface features Increasedecrease collision force based on surface displacement UIST 2006 UMBC Dynamic Surface Characteristics o Model virtual geometry o Add small-scale surface features Increasedecrease collision force based on surface displacement UIST 2006 00:01:20 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Dynamic Surface Characteristics o Surface properties depend on direction of movement o Anisotropic shader Friction based on proxy direction UIST 2006 UMBC Dynamic Surface Characteristics o Surface properties depend on direction of movement o Anisotropic shader Friction based on proxy direction UIST 2006 00:00:43 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Dynamic Surface Characteristics o Using stochastic methods o Wood shader Alter surface friction based on wood UIST 2006 UMBC Dynamic Surface Characteristics o Using stochastic methods o Wood shader Alter surface friction based on wood UIST 2006 00:00:14 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Dynamic Surface Characteristics o Modify texture based on interaction Store surface properties in a texture o Plaque shader Prototype for collaboration with UCSF UIST 2306 UMBC Dynamic Surface Characteristics o Modify texture based on interaction Store surface properties in a texture o Plaque shader Prototype for collaboration with UCSF UIST 2306 00:01:33 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Future Directions o Apply to surface-to-surface interaction o Programmable hardware on the device for force modeling would dramatically increase performance o Demonstrate on more haptic devices UIST 2006 UMBC Future Directions o Apply to surface-to-surface interaction o Programmable hardware on the device for force modeling would dramatically increase performance o Demonstrate on more haptic devices UIST 2006 00:01:24 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Condusion o We have presented a novel technique that uses user-defined shaders to redefine the haptic experience o Dynamic haptic texture example a surface that changes texture as a user interacts with it o Change of surface shape and contours without additional object geometry o Dynamically loaded haptic shaders can be applied to arbitrary objects in the virtual scene UIST 2006 UMBC Condusion o We have presented a novel technique that uses user-defined shaders to redefine the haptic experience o Dynamic haptic texture example a surface that changes texture as a user interacts with it o Change of surface shape and contours without additional object geometry o Dynamically loaded haptic shaders can be applied to arbitrary objects in the virtual scene UIST 2006 00:00:37 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 UMBC Acknowledgments o Funded in part by the UMBC SRIS RAS grant program o Thanks to Dr. Alan Liu, Dr. Roger Webster, Alark Joshi, Kishalay Kundu and the UIST paper reviewers for their assistance UIST 2006 UMBC Acknowledgments o Funded in part by the UMBC SRIS RAS grant program o Thanks to Dr. Alan Liu, Dr. Roger Webster, Alark Joshi, Kishalay Kundu and the UIST paper reviewers for their assistance UIST 2006 00:00:06 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County Wed, 18 Oct 2006 00:00:00 +0200 Procedural Haptic Texture SCIENCE > 2006 Questions Jeremy Shopf sho fl umbc.edu htt use a es.umbc.edu sho fl http cs. umbc. eduvangogh UIST 2006 Questions Jeremy Shopf sho fl umbc.edu htt use a es.umbc.edu sho fl http cs. umbc. eduvangogh UIST 2006 00:05:47 no Jeremy Shopf, Marc Olano, University of Maryland Baltimore County