A Haptic Device With Collision Detection Response For Sculpting
Virtual Objects
S K Yeung
Department of Mechanical & Automation
Engineering
The Chinese University of Hong Kong
Shatin, NT, Hong Kong
e-mail: skyeungQmae.cuhk.edu.hk
Abstract: To enhance the visual interaction
with virtual environment, a hand-controller
equipped with force reflection provides a
human operator an additional sensory
dimension to feel force during manipulation of
virtual objects. The design of the device is
based upon ergonomic ease of use; back-
driveability which includes low inertia, mass,
friction and backlash and simplicity of model
and control. To sculpt objects on a computer,
the operator needs an instrument to enable
himself to feel the virtual object. This
requirement can be facilitated by the haptic
device with a a collision detection response
algorithm. The algorithm will ensure that the
surfaces of the virtual object do not inter-
penetrate. When the user attempts to inter-
penetrate two surfaces, the algorithm will stop
the surfaces at the point of penetration and
send force-feedback information to the haptic
device which in term will generate simulated
resistant force to him to indicate that the
operation is not permissible.
1.O INTRODUCTION:
Interaction with computer-generated, virtual
environments is becoming more commonplace as
the computing power required to generate
convincing 3D graphics in real time grows less
expensive. Commercial visualization packages for
architecture and the pharmaceutical industry are
already available. Even with the development of
visualization tools such as stereo displays,
interaction with these environments remains
awkward due to the lack of sensory feedback,
other than visual. Although one can typically see
and even manipulate objects in a virtual
environment using a mouse, trackball, other input
IEEE
0-7803-3312-8/97/$5.0001997
E M Petriu
Department of Electrical Engineering
University of Ottawa
Ottawa, Ontario
K1N 6N5 CANADA
e-mail
petriuQ elg.uottawa.ca
device, the objects lack the “feel” of the real world.
To sculpt a virtual object in a virtual environment, it is
required for a hand-controller or other human interfaces to
provide force resistant sensation to an operator when he
visualizes to touch the object on the screen. The haptic
device which is a force reflecting hand controller will send
position information to the virtual world. The virtual world will
react to this position and transmit force vectors to the device
which will these force vectors to simulate resistant force to
the operator. The collision detection response algorithm will
ensure that the surfaces of the virtual object will not be inter-
penetrated. The algorithm will stop the surfaces at the point
of penetration and send force-feedback information to the
device to indicate the user that the current operation on the
virtual object is not permissible.
This paper will address the design, kinematics and dynamic
analysis of a six link parallel mechanism and the hardware
implementation. In addition, a collision detection response
algorithm for sculpting virtual objects in the virtual
environment will be discussed.
2.0 HAPTIC DEVICE
The objective in force reflection is to have the user feel
virtual objects as though they were real. Creating the
sensation of manipulating a virtual object involves simulating
contact forces when the user touches the object as well as
generating inertial forces when user accelerates the object
[l].The user should not feel the weight of the haptic device
as this would conflict with the tactile feedback from the
virtual environment. A good device should have low inertial
properties that are invariant throughout the work volume. A
mechanism resemble an umbrella is developed to feature a
lightweight design whose moving parts weigh less than 50
grams. Moreover, its symmetric layout means its inertial
properties change little throughout its work.
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The development of this device evolves from a
planar 5-bar, parallel manipulator. This 5-bar
mechanism is extended into the third dimension
by placing the base shoulder joints at 120
degrees on the circumference of a circle. The
actuators at the elbow joints will be replaced by a
3 degree-of-freedom ball joint or an equivalent;
and the three 2-link structure are connected by a
spherical joint as shown in Figure 1 [2]. The
arrangement of the links enables the placement of
motors on the base and decreases the weight of
the whole structure.
FIGURE 2: A DI-TETRAHEDRAL FORM HAPTIC DEVICE
where x l , y l , z l represents the position of the joint
connecting the fh secondary link to the end-effeutor,
whereas x, , y , ,z , position coordinates of the fhspherical
elbow joint, and I, is the length of the fb secondary link. The
FIGURE 1: EVOLUTION OF A HAPTIC DEVICE FROM
three revolute joints at the top are bound to each other,
TWO-LINK MECHANISM forming three more equations:
(xl-X,)2+(Y,-Y,)2+(Zl-Z,)2 =P4 29
2.1 KINEMATICS
i = 1,2,3;j = 1,2,3;i f j EQ (2)
In a true di-tetrahedral form as shown in Figure 2. where 8, is the distance between the fh and f“ joints.
Each secondary link emulates from a vertex of Finally, three more equations can be obtained from the
the common base of the tetrahedrons similarly to orientation of the projection of the secondary link onto the
a radius of a sphere; the locus of its tip is indeed end-effector plate which is fixed with respect to the plate:
a sphere with the vertex as the center. In general,
three spheres can only intersect at two points -
the vertex at the top and the image of this point
about the plane of the base.
i, j , k = 1,2,3,i f j f k
If the links do not meet at a single point, we define These nine equations match the nine coordinates require to
the offset to be the distance between the center of describe the positions of the three joints and thus form the
the bottom triangle formed, and the revolute general forward kinematic equation of the mechanism.
joints. In such a case the mechanism takes the
general form as shown in Figure 3. The end- 2.2 DYNAMICS OF THE DEVICE
effector, which is the triangular “plate” bounded by
three revolute joints represented by the vectors,
- The dynamic equations of the device can be formulated by
Gee(from joint j to k) and its normal vector Pjk is Lagrangian approach. Since the moving platform as shown
in Figure 3 assumes a circular plane, the center of gravity of
uniquely determined by the positions of the three the moving platform will be at the origin of the xyz
joints. The position of the end-effector joints are coordinate frame
defined by three sphere equations representing
the locus of the tip of the secondary links. The kinetic energy of the primary link1 and secondary link 1
2 2 2
( x 1- x a 1 ) ’ + ( y j - y a j ) + ( ~ j -z,> =I i, can be written as
i = 1,2,3 EQ(1) = TfiAl + EQ(4)
T ~ *=, + J & ~ =+(+m12)b12
=+m128,2 EQ(5)

TA,B,
where
- _1
- mvLJ2 +
2 + J,A2
J , =&ml 2 and v, 2 = x-2 2 + z , 2
EQ(6)

323
x2 =R+ zcose, ++p1
z2 = Z sin 8, + +sin PI
Combining EQ(4), (5), and (6), we have
T ~ ,=~+[zeI2
, +$&'+z2e,&cos(e, -p, 11
++(+mZ2)Bl2 EQ(7)
Substituting (7) and (3)into (2), we have
+:z2jl + m z 2 e l j lcos(e, - p l )
q =+[$mz2812
The total kinetic energy of the haptic device can
be written as
+
T = M ( X 2+ y2 + z 2 ) + i ( Z , ~ , 2 + Z,,,,W,.~+ ZzZaz2) X
FIGURE 3: 3 DOF HAPTIC DEVICE
3
++mz2C[+q.2++fi"fi.cos(@ -p,)] 3.0 A COLLISION DETECTION-RESPONSE
,=I
ALGORITHM FOR SCULPTING VIRTUAL OBJECTS
Where
M mass of the moving platform For this algorithm, the virtual object is represented by a
m mass of the link series of interconnected triangles. Each triangle connects to
¶az
a,,a,, angular velocity of the body axes exactly three other triangles through its edges. This means
of the moving platform with each edge connects to two triangles. This simplifications will
respect to a moving frame allow the algorithm to increase its speed.
parallel to the XYZ frame
moment of inertia of the moving 3.1 MODEL OF THE VIRTUAL OBJECT
I , ,Zyy , I ,
platform about x, y, z axes The user shapes the virtual object by grabbing an existing
respectively vertex of a triangle or creating a new vertex and moving that
Since the moving platform is in symmetry, vertex while the other vertices staying stationary.
Z,,Z,,Z, are identically equal to zero, and
I , = I , = I,, = 71 Mr 2 The model imposes only one constraint on the movement of
the vertices. The constraint is that the three vertices of a
The potential energy of the device is given by triangle cannot be collinear, since each triangle connects to
3
exactly three other triangles through its edges. However, for
P=Mgz+mgC[+sine, +lsinel ++sinp,] practical reasons when detecting collisions with triangles, a
i= 1
vertex should not be within a delta distance from the line
The Lagrangian equations of the motion becomes joining the other two vertices making up that triangle.
d aL dL Otherwise the vertices can move anywhere.
-(-)--=yi , i = 1,2,3 EQ(8)
dt ae, ae,
The only restriction for adding new vertices is that it cannot
and L = T - P
be created at the same position as another vertex.
Since the kinetic energy T, the potential energy P,
Otherwise a new vertex V can be created on the face of
are functions of 0,,e2,f3, and their time triangle ABC by deleting triangle ABC and creating three
derivatives, the torque required to actuate the ith new triangles, ABV, BCV and CAV. A new vertex V can also
primary link can be obtained from EQ(8) as be created on edge BD joining the two triangles ABD and
follows: BCD. This is done by deleting both triangles ABD and BCD
d J T J T d P and creating four new triangles ABV, BCV, CDV and DAV
q=-(-)--
dt aei aei +-aei where i = 1,2,3 as shown in Figure 4.

324
 B B
A with the following three collision algorithms; namely (I)
FIGURE 4: CREATING A NEW VERTEX ON A TRIANGLE
FACE
Each vertex V can be connected to n number of
other vertices P, ... P, in clockwise order. To
delete V, all the triangle connected to V will be
deleted. n-2 new triangles will be created. These
new triangles are formed by connecting vertices
P,, P,., and P, for 3 I i I n . Vertices can continue
to be removed until the object becomes a
tetrahedron. At this point, no further vertices can
be removed without violating the constraint that
each triangle connects to three other triangles as
@:$p
shown in Figure 5.
P5
Pl Pl
FIGURE 5: REMOVING A VERTEX
3.2 THE COLLISION DETECTION ALGORITHM
Since the virtual object is constructed on
triangles, the only collisions possible are between
two triangles. Each triangle consists of edges,
vertices and a face. So there are a total of nine
possible types of collisions, but some of these are
redundant. For example, face on edge collisions
can be detected by edge on edge and face on
vertex collisions. So there are only five types that
need to be detected as follows: (a) vertex on
vertex (b) vertex on edge (c) vertex on face (d)
edge on edge and (e) face on vertex.
A vertex, edge or face can be in one of two
modes, interacting or non-interacting. When an
object is in interacting mode, it is currently in
collision with another object and we have to
determine if it can lift off that object or slide along
the surface of the object. If an object is in non-
interacting mode, it is not in collision with an
325
object and we have to determine it collides with any object
as it moves from S to T in Figure 4.
3.2.1 NON-INTERACTING MODE
The five types of collisions listed above can be detected
vertex on triangle collision, (11) edge on edge collision, and
(Ill) face on vertex collision. The vertex on vertex, vertex on
edge and vertex on face type collisions are detected using
one method, a vertex on triangle algorithm.
(I) Detection of Vertex On Triangle Collisions
The first step in the algorithm is a quick calculation to
eliminate most triangles. A triangle ABC also defines a
plane with normal vector N. The plane has a front side,
positive N, and a back side, negative N. As a vertex moves
from point S to point T, it can collide with the triangle only if
one point is on the front side of the plane and the other is on
the back side. This can be detected by using the dot
product. If AS. N and AT. N (Figure 6 ) have the same sign,
then the points are on the same side of the plane, so there
is no intersection. Otherwise, there is a possibility of
intersection and we precede to the next test.
S T
FIGURE 6: AS N AND AT N HAVE THE SAME SIGN; NO
COLLISION
If the dot products AS N and AT. N are both equal to 0,
then they lie on the plane ABC. There is a possibility of
collision with one of the edges of the triangles. This can be
detected by solving the parametric equation
S+(T-S)u = A+(B-A)v
for each of the line segments AB, BC and CA. If
0 I U 5 land 0 I v I 1then there is a collision, else no
collision occurs.
As a vertex moves from point S to point T, it creates a line
segment ST. To test line segment ST whether it intersects
triangle ABC. This can be achieved by solving the
parametric equation:
S+(T-S)u = A+(B-A)v+(C-A)w

If u>l , v<O, w<O or U + w >1, then the vertex did
not collide with the triangle. If there is a collision,
then the values of v and w will reveal the type of
collision:
(i) It is a vertex on vertex collision if (a) v=O and
u=O or (b) v=l and u=O or 0 u=l and v=O.
(ii) It is a vertex on edge collision if (a) v=O and
O<u<l or (b) O<v<l and u=O or (c) u+v=l .
(iii) It is a vertex on face collision if v>O, u>O and
U+V<l.
Since movement of a vertex from point S to T is
guided by the haptic device, line segment ST can
become arbitrarily small. Floating point errors may
occur in the calculations and a collision will not be
detected. This will verify the occurrence of actual
collision. First, the point S is projected onto the
plane defined by triangle ABC, by translating the
point S by the projection of SA onto the normal of
the plane N. We will call the projection of S, R. If
R lies within triangle ABC, then a collision did
occur. This is determined by using the cross
product. If vectors R;i X R i , R i X R e and
R e x R;i are in the same direction, then R lies
within triangle ABC and a collision did occur.
FIGURE 7: R IS THE PROJECTION OF S ONTO THE
PLANE ABC
(11) Detection of Edge On Edge Collisions:
Since the object is shaped by moving a vertex,
we also need to detect collisions between the
edges connected to that vertex and other edges.
As vertex J moves from point S to point T, it will
form a triangle STV with another vertex
connected to J. Now, for the detection of
collisions with other edges AB, we test if line
segment AB intersects triangle STV by solving the
parametric equation:
A+(B-A)u = S+(T-S)v+(V-S)w
If u>l, v<O, w<O or U + w > 1, then there is no
collision
326
If there is a collision, we need to find the point at which
vertex J stops as it moves from S to T. The point of collision
G is found by A+(B-A)u. Now the point that vertex J must
stop at is given by the intersection of the infinite lines ST
and VG. This is found by solving the parametric equation:
S+(T-S)u = V+(G-V)W.
"V
FIGURE 8:TRIANGLE CREATED AS VERTEX MOVES FROM S TO T.
(111) Detection of Face on Vertex Collisions
Each vertex also has triangles connected to it. As the vertex
moves, collisions between these triangles and other vertices
also have to be detected.
As vertex J moves from point S to point T, the triangle SGI
connected to vertex J will create a tetrahedron SGIT.
Detection of a face on a vertex is simply done by
determining if the point A lies within this tetrahedron. Each
of the triangles of the tetrahedron form a plane. Let N be the
normal vector of plane SGI. If STaN and S A o N have
different signs, then there is no collision. If they have the
same sign or SA N = 0, then we perform the same tests on
planes STI, GIT and SGT. If it is true for all four planes, then
there is a collision.
If there is a collision, we need to find the point at which
vertex J stops as it moves from S to T. This can be found by
finding the intersection of line segment ST and infinite plane
GIA. The intersection can be found by solving the
parametric equation:
S+(T-A)u = G+(I-G)V+(A-G)W
3.2.2 INTERACTING MODE
If a vertex is currently interacting with a surface, these
algorithms will determine if the object can move off the
surface, slide along the surface or stay at the same position.
If the vertex can move off the surface, then the algorithms
for non-interacting objects will be applied to determine if it
collides with any other objects as it moves from point S to T.
If the vertex can't move off the surface, then this is the point
that it will move to.
The three vertex algorithms, vertex on face, (ii) To determine if vertex J moves to vertex A, we take the
vertex on edge and vertex on vertex are closely cross products &A? and AE x A c . If the vectors
inter-connected. They allow the vertex to move are in the same direction, then G is outside
smoothly over the surface of the virtual object and Vertex
therefore need the ability to call each other. This
means that a movement from S to T could result
in a dozen calls to the three vertex algorithms as
it traverses the surface of the virtual object and
attempts to find the closest position on the
surface to T.
Face
Each triangle has two sides, one facing outside
the virtual object and the other facing inside the
virtual object. It is assumed that the normal vector Vertex
Br Edge IC
Vertex
N of each triangle points outside the virtual object. FIGURE 9: DIVISION OF AREA OUTSIDE THE TRIANGLE
For the vertex on vertex, vertex on edge and
vertex on face algorithms, it is assumed that the the triangle and could move to A. If BA AG 2 0,
vertex hits the outside of the triangle. If the vertex then vertex J moves to vertex A. A similar method is
hits the inside of the triangle, then just reverse the used for vertices B and C.
direction of normal vector N in the algorithms. The
five types of detection (a) vertex on face (b) (iii) Vertex J will stay on the face if the above two tests fail
vertex on edge (c) vertex on vertex (d) edge on or all edges and vertices.
edge and (e) face on vertex are as follows:
(b) Detection of Vertex On Edge
(a) Detection of Vertex On Face
Let AB be the edge joining triangles ABC with normal N I
Let ABC be a triangle with normal vector N, and T and ABD with normal N2, and let T be the position that
be the position that vertex J will be moved to. vertex J will be moved to.

Vertex J can lift off the face if it returns to the
same side from which it entered. This can be
determined by taking the dot product. If AT. N >
0, then the vertex can lift off the triangle. If
AT. N I 0, then we proceed to the following test
as shown in the next paragraph.
The point T is projected onto triangle ABC and
call this point G. We now need to determine if G
lies on a face, edge or vertex of triangle ABC. If G
lies outside triangle ABC, we will move vertex J to
the closest edge or vertex of triangle ABC.
There are two cases for this test. (i) the first case: when
triangles ABC and ABD create an angle less than or equal
to 180' from the point of view of vertex J (i.e. side of the
triangles that vertex J is on). (ii) the second case: when the
angle is greater than 180'. This can be determined by a
simple dot product. If Ni A B 2 0, then the angle is less
than or equal to 180'.
D
C

(i) To determine if vertex J moves to edge AB, V A

we take the cross products A& and
A E X A G . If the vectors are not in the
same direction, then G is not on the same
side as C. It is necessary to determine if G is
between the points A and B. If AB B6<0
and BA A(? < 0 then G is between AB
and vertex J moves to edge AB. A similar
method is used for edges BC and CA.
FIGURE 10: EDGE-ON VIEWS OF TWO TRIANGLES WITH ANGLE
LESS THAN 180'
(c) Detection of Vertex On Vertex
Let A be the vertex that collides with vertex J, and T be the
point to where J will move. Let the other vertices connected
to A be P, ... P, in counter-clockwise order.

327
This algorithm basically lets the other two vertex
algorithms, (namely, vertex on face and vertex on
edge), determine if vertex J lifts off the surface. It
determines which face or edge is closest to point
T and calls the appropriate algorithms. If none of
the edges or faces is closer to T then vertex A,
vertex J will stay at the vertex A.
To determine if vertex J moves onto triangle
AP,P,+,, we first project T onto triangle AP,P,+,
and call this point Gi. If vector AP, X AP,,
and GI I G, for all 1 I k I n. We perform
the vertex on face algorithm with triangle
AP,P,+,-
To determine if vertex J moves onto edge
AP,. This edge connects two triangles AP,P,+,
and AP,P,,. T is projected onto triangle
AP,P,+,and call this point G1. If AP,X AG1 is
in the opposite direction of AP,X AP,,,, then T
is projected onto triangle AP,P,+,on another
point G2. If it is on the opposite direction of
AP,x AP,, then we test whether T is moving
along the edge or staying at the vertex. If AP,
AT > 0 and this is the closest edge found,
then we perform the vertex on edge
.
algorithm with edge AP, If no face or edge
is found, then vertex J stays at vertex A.
Detection of Edge On Edge
Let the two edges be AB and VS where S is the
position of the vertex being moved. We will call
this vertex J. Let T be the point to where J will
move and let the previous position of J before
hitting the edge be P. Since the collision of the
two edges AB and VS define a plane, vertex J
can only move to the side of the plane that P is
on. We find the normal of the plane by taking the
cross product, The normal vector N is given by
ABx AV. If SP N and ST N have the same
sign, then vertex J can move to T. If SP N and
ST 0 N have different signs or ST N = 0 then
vertex J stays at position S.
(e) Detection of Face On Vertex
Let the triangle be SGI where S is the vertex
being moved. We will call this vertex J. Let the
point to where J move be T and the previous
position of J before hitting the edge be P. since
triangle SGI defines a plane, vertex J can only
move to the side of the plane that P is on. We find
the normal of the plane by taking the cross
328
product. The normal vector N is given by SG X SI. If SP
N and ST N have the same sign, then vertex J can move
to T. If SP N and ST N have different signs or ST N
= 0 then vertex J stays at position S.
4.0 CONCLUSION
This algorithm has been implemented on an SGI Indigo
workstation and real-time performance has been achieved.
We have found that as the complexity of the algorithm
increases linearly with the number of triangles added while
increases exponentially with the number of vertices
connected to the vertex being moved. When the number of
triangles is in the hundreds, the algorithm becomes
inefficient. This problem can be solved by creating a
bounding box around all the triangles. Each triangle will
have an upper and lower x, y, z value. These values can be
placed into six lists; one for each upper and lower x, y, z
values which are sorted in order. When a vertex V is
selected to be moved, a bounding box is created around
vertex V and the other vertices connected to vertex V. The
six lists can then be examined for x, y, z values that fall
within the bounding box of vertex V. The triangles found can
be placed in another list, called checklist, that will contain
the triangles that need to be checked for collision. While
moving the vertex around, six pointers, one for each list, can
move up and down the lists to indicate which is the next
triangle that should be checked. This keeps all the triangles
organized so that the algorithm knows the next closest
triangle to the vertex. This should keep the number of
triangles that need to be detected for collision relatively
small and allow the algorithm to operate in real-time for
hundreds of triangles.
Reference:
PI Millman, P, and Colgate, J., “Design of a Four Degree-of-
Freedom Force-Reflecting Manupulandum with a Specified
Forceflorque Workspace”, froceddings of the /E€€ lnt. Conf.
On Robotics and Automation, Sacramento, CA, USA, 1991,pp.
1488-1493.
PI Yeung, S, and Hui, R., “Mechanical and Electronics Design of a
Parallel Kinematic Linkage for Haptic Applications”, CSNDSM
Technical Memorandum #3522,November 15,1995.
[31 Lee, K. and Shah, D., “Kinematic Analysis of a Three Degrees
of Freedom ln-Parallel Actuated Manipulator’; Proc. Of I€€€ lnt.
Conf. On robotics and Automation, 1987,pp. 345-350