| In this thesis, we present a novel haptic rendering technique based on a hybrid surface representation mixing geometric model and implicit surface representation. Using the hybrid surface representation, we address conventional limitations in the haptic display on the geometric model, such as fast force update at 1 kHz, simulating large geometric models without significant degradation of haptic performance, correct and stable simulation of surface properties like friction, stiffness, and haptic texture, and avoiding force discontinuity without a feeling of rounded surface.; We also present a haptic decoration and material editing technique. Haptic decoration allows the user to paint directly on the 3D model (haptic painting) and then sense the surface variation on the painted image (image-based Haptic texturing). Using a material editing technique, the user can edit local surface properties like friction and stiffness and then simulate the assigned material properties on the surface.; Finally, we introduce a haptic sculpting system where the user intuitively adds and carves material to a volumetric model using novel sculpting tools. The volumetric model being sculpted is visualized as a geometric model which is adaptively refined according to the surface complexity. |
