Haptic interaction with highly detailed objects
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Updated: Sep 16, 2026

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy
Published on: August 8, 2011
1Surgical System Lab., Research Center Caesar Friedensplatz 16, 53111 Bonn, Germany. zerfass@caesar.de
Abstract:
Haptic exploration of detailed models from patient specific anatomical structures places high demands on computational resources. Constant collision detection and correct calculation of forces fed back to the operator quickly exceed available processing power with increasing level of detail of the represented objects. To alleviate the strain on computational resources optimisation schemes are employed to speed up processing and guarantee glitch-free operation as well as smooth haptic feedback. Among these are the generation of a local haptic model, a look-ahead strategy to increase its range of validity, small world-shift operations and force extrapolation algorithms for smooth feedback.
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