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Contribution à l'étude du rendu et de la perception haptique d'objets virtuels déformables

Abstract : Haptics is a key part for the interaction with physically-based environments, with many applications in virtual training, prototyping and teleoperations assistance. In particular, deformable objects are challenging, due to the complexity oftheir behavior. Due to the specific need in performance associated to haptic interaction, a trade-off is usually necessarybetween accuracy and efficiency, and taking the best of this trade-off is a major challenge. The objectives of this PhD are to improve haptic rendering with physically-based deformable objects that exhibit complex behavior, and study how perception can be used to achieve this goal.In this PhD, we first propose a model for the physically-based simulation of complex heterogeneous deformable objects. More specifically, we address the issue of geometric multiresolution for deformable heterogeneous objects, with a major focus on the heterogeneity representation at the coarse resolution of the simulated objects. The contribution consists in a method for elasticity attribution at coarser resolution of the object, and an evaluation of the geometric coarsening on the haptic perception.We then focus on another class of complex objects behavior, topology changes, by proposing a simulation pipeline forbimanual haptic tearing of thin deformable surfaces. This contribution mainly focuses on two main aspects for an efficientsimulation of tearing, namely collision detection for thin objects and efficient physically-based simulation of tearing phenomena. The simulation is especially optimized for tear propagation.The last aspect that is covered by this PhD is the influence of the environment over haptic perception of stiffness, and more specifically of Augmented Reality (AR) environments. How are objects perceived in AR compared to Virtual Reality (VR)? Do we interact the same way on these two environments? In order to assess these questions, we conducted an experiment aiming at comparing the haptic stiffness perception of a piston surrounded by everyday life objects in AR and of the same piston surrounded by a virtual replica of the real environment in VR.These contributions open new perspectives for haptic interaction with virtual environments, from the efficient yet faithful simulation of complex deformable objects behavior to a better understanding of haptic perception and interaction strategies.
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Submitted on : Wednesday, April 25, 2018 - 4:11:08 PM
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  • HAL Id : tel-01778371, version 1


Benoît Le Gouis. Contribution à l'étude du rendu et de la perception haptique d'objets virtuels déformables. Synthèse d'image et réalité virtuelle [cs.GR]. INSA de Rennes, 2017. Français. ⟨NNT : 2017ISAR0019⟩. ⟨tel-01778371⟩



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