Penalty-based haptic rendering technique on medicinal healthy dental detection

We present a penalty-based haptic rendering analysis method for medicinal dentistry diagnose simulation. The method is based on the locally optimized generalized penetration computation algorithm which computes the minimum translational and rotational motion to separate two overlapping objects. The essence of penalty-based haptic rendering method is computing an amount of penetration depth, and the output force magnitude is following the Hooke's law. We use the virtual coupling method to calculate the output force and analysis the damping and stiffness coefficient in order to get a rendering force which optimizes the haptic feedback value and resolves the instability problems in haptic rendering system. Furthermore, we introduce friction force on different surface textures of the interacting objects. And successfully mapped the virtual contact results to force feedback and integrated the algorithm into the off-the-shelf 6Dof haptic device. The experiment result shows that our method can generate stable and realistic haptic feedback in dentistry diagnose simulation near ideal update rate.