IEEE Consumer Electronics Magazine - March 2018 - 85

User's
Intent

User

3-D Input Device

Interacting with Virtual
Objects (Create, Move,
etc.)

Real-Time Morphing
Using Efficient RBF

Haptic Feedback

AR Projection

Augmented-Environment
Update

FIGURE 1. A schematic overview of the proposed methodology integrating AR, force feedback, and fast RBF mesh morphing algorithms.

objects in a computer simulation. In this way, the user can
touch and feel the geometries assisted by the guiding virtual
forces. The AR and the haptic device populate a background
in which the morphing actions can be executed. The morphing methodology makes use of the fast RBF library of RBF
Morph, which is intended for the batch management of large
high-fidelity CAE models (up to one billion nodes) in a reasonable timeframe. The version adopted in this project allows
for fitting 240,000 centers and subsequently morphs a mesh
of 580,000 nodes in about 6 min on a four-core I7 laptop.
Such performances that are assessed without AR and that
force-feedback computations guarantee an interactive realtime process, considering models with tens of sources to
update and thousands of target nodes.
There are, essentially, three innovative aspects of the proposed methodology:
1) the integration in the same framework of AR, interactive
modeling, and force feedback
2) the integration of efficient morphing algorithm based on
the RBFs to deal with both organic and functional shapes
3) the inclusion of basic operations and force-feedback helpers to guide the modification of functional shapes with
specific constraints.

support stereovision up to a resolution of 800 × 600 pixels in
each eye.
The camera is rigidly mounted on the HMD to reproduce
a comprehensive AR helmet. A Geomagic Touch X device
works as both an input and output peripheral and serves as
the haptic interface. It is able to track and record the spatial
location of its stylus, can be grabbed by the user, and used as
a spatial mouse. At the same time, the three motors at the
main joints provide programable resisting torques that gives
the user force feedback along three spatial directions.

HMD (Camera + Visor)

PROPOSED METHODOLOGY
The proposed methodology makes use of input, processing,
and output devices. With reference to Figure 2, the input
video device is a Microsoft LifeCam VX6000 universal serial
bus camera, which can catch frames up to 30 Hz with a resolution up to 1,024 × 768 pixels. The output display is a headmounted display (HMD) equipped with OLED screens (Z800
3-D visor by Emagin-http://www.3dvisor.com/). It is able to

Pattern Marker

Haptic Device

FIGURE 2. The implemented AR system with a force-feedback device.

march 2018

^

IEEE Consumer Electronics Magazine

85


http://3dvisor.com/

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