A prediction method using interpolation for smooth six-DOF haptic rendering in multirate simulation

Smooth hap tic force feedback is an important task for multirate 6-DOF hap tic rendering for both rigid and deformable objects. The update rate of the hap tic force may be too low and changed during the simulation as the high computation time is required for complex physical simulation. Therefore, to implement a stable and smooth hap tic rendering, we need a method to update the force in a higher regular rate during the physical simulation. We propose a prediction method using interpolation to calculate smooth hap tic interaction force in a high update rate. The auto-regressive model is used to predict the force value based on the previous hap tic force calculation. In addition, we introduce a spline function to interpolate force values for the hap tic force output. We demonstrate that the proposed method can provide smooth and accurate hap tic force feedback in a high update rate during a low frequency physical simulation of complex and deformable models. In the experi ments, we show the feasibility of the proposed method and compare its accuracy and stability with the linear force prediction algorithm.