Soft tissue modelling for haptic rendering in virtual environments

This paper focuses on the development of a haptic recording and modelling system. Currently being evaluated for multiple uses in surgery and manufacturing, this recording system evaluates haptic data captured via a robotic ann coupled with real time high-resolution load cell. This data is then analysed and validated against previous samples and a generated model before being logged for playback during simulation and training of a human operator. 3D models of point force interactions are created allowing unique visuals to be presented to a user. Primarily designed for the medical field, recorded results of soft tissue cutting have been presented.

Method and apparatus for detecting an event

Method of detecting an event in electrical apparatus (146, 148, 150). Electromagnetic radiation from the apparatus, characteristic of the event, is detected. An electrical signal is generated, this representing the electromagnetic radiation. The signal is subjected to non-stationary wave signal analysis to generate an output indicative of the detecting.

Method and apparatus for detecting an event

Method of detecting an event in electrical apparatus (146, 148, 150). Electromagnetic radiation from the apparatus, characteristic of the event, is detected. An electrical signal is generated, this representing the electromagnetic radiation. The signal is subjected to non-stationary wave signal analysis to generate an output indicative of the detecting.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Rendering optimisations for stylised sketching

We present work that specifically pertains to the rendering stage of stylised, non-photorealistic sketching. While a substantial body of work has been published on geometric optimisations, surface topologies, space-algorithms and natural media simulation, rendering-specific issues are rarely discussed in-depth even though they are often acknowledged. We investigate the most common stylised sketching approaches and identify possible rendering optimisations. In particular, we define uncertainty-functions, which are used to describe a human-error component, discuss how these pertain to geometric perturbation and textured silhouette sketching and explain how they can be cached to improve performance. Temporal coherence, which poses a problem for textured silhouette sketching, is addressed by means of an easily computed visibility-function. Lastly, we produce an effective yet surprisingly simple solution to seamless hatching, which commonly presents a large computational overhead, by using 3-D textures in a novel fashion. All our optimisations are cost-effective, easy to implement and work in conjunction with most existing algorithms.

Super-realistic rendering using real-time tweening

The realism of contemporary computer graphics (and especially Virtual Reality {VR}) is limited by the great computational cost of rendering objects of appropriate complexity with convincing lighting and surface effects. We introduce a framework that allows rendering of objects in true photographic quality using tweening. The simple but effective design of our system allows us not only to perform the necessary operations in real-time on standard hardware, but also achieve other effects like morphing. Furthermore, it is shown how our system can be gainfully employed in non-VR contexts like extreme low-bandwidth video-conferencing and others.

Modelling and rendering techniques for African hairstyles

We develop or enhance hair modelling and rendering techniques to produce three different forms of hair commonly found in African hairstyles. The forms of hair are natural curly hair, straightened hair, and braids or twists of hair.

We use an implicit model, implemented as a series of textured layers to represent curly hair. Straightened hair is represented explicitly, and modelled by defining and replicating a few control hairs. Braids and twists are implemented as textured generalized cylinders.

A synthesis of existing hair illumination models is used as a basis for an African hair illumination model. Parameter values to match African hair characteristics are discussed.

A number of complete African hairstyles are shown, demonstrating that the techniques can be used to model and render African hair successfully.

Self-assembled monolayers on mercury probed with a modified surface force apparatus

Self-assembled monolayers (SAMs) of three thiol compounds formed on mercury are investigated by a combination of cyclic voltammetry, electrocapillary curves, and a novel method of measuring electrical doublelayer properties. The last method involves a modified surface force apparatus in which a flat mica surface is pressed down toward a fixed mercury drop held beneath it, while both are immersed in aqueous electrolyte solution. Optical interference measurements are made of the mica-mercury separation as a function of electrical potential applied to the mercury, which yields information on the double-layer interaction between the two surfaces. Mercury is decorated by SAMs of 11-mercapto-1-undecanoic acid, which is shown to bring negative charge to the mercury/aqueous interface due to dissociation of the carboxylic acid groups; 11-mercapto-1- undecanol, which although it is uncharged changes the dipole potential of the interface; and 1-undecanethiol, which likewise changes the dipole potential, but by a different amount. The difference between the changes in dipole potential (90 mV) can be related to the different terminal groups of these two SAMs, -CH3 compared to -OH, that are in contact with the aqueous phase.

Extending the surface force apparatus capabilities by using white light interferometry in reflection

The application of surface force apparatus (SFA) capabilities in measuring interactions between surfaces over nanometer separations was described. The technique is used when both the materials are transparent. It was observed that the poorly reflecting surface produce fringes that have low contrast and low finesse. The results show that the technique is successful when the visibility of the interference fringes is maximized.