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Variable gain haptic coupling for molecular simulation

Authors :
Barthelemy Cagneau
Aude Bolopion
Stephane Regnier
Stephane Redon
Institut des Systèmes Intelligents et de Robotique (ISIR)
Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)
Laboratoire d'Ingénierie des Systèmes de Versailles (LISV)
Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)
Algorithms for Modeling and Simulation of Nanosystems (NANO-D)
Inria Grenoble - Rhône-Alpes
Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Jean Kuntzmann (LJK)
Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)
This work was supported by the French National Agency of Research, through the NANOROL project.
Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF)
Source :
WHC 2011-IEEE World Haptics Conference, WHC 2011-IEEE World Haptics Conference, Jun 2011, Istanbul, Turkey. pp.469-474, ⟨10.1109/WHC.2011.5945531⟩, World Haptics
Publication Year :
2011
Publisher :
HAL CCSD, 2011.

Abstract

International audience; Molecular interactions typically have a high dynamic range (HDR), combining short-range stiff repulsive effects with long-range, soft attractive and repulsive terms. As a result, faithful haptic rendering of such molecular interactions is both important and difficult, in particular in applications where the precise perception of molecular forces is necessary (e.g. in molecular docking simulations). Traditionally, teleoperation coupling using constant gain control schemes have limited applications since they are unable to transmit to users low attractive forces without truncating repulsive ones. Furthermore, constant scaling displacement induces either instability or time-consuming experiments (displacements are slow), which deteriorates the ease of manipulation. In this paper, we describe a variable gain haptic coupling method specifically designed to render high dynamic range (molecular) forces. The proposed method is evaluated by user tests on an experiment involving two water molecules. We observe that variable force amplification is widely appreciated, whereas variable displacement scaling is appropriated only for users familiar with haptic manipulation. A complex experiment on a HIV molecule is carried out using this variable gain system. Advantages and limitations of this approach are discussed.

Details

Language :
English
Database :
OpenAIRE
Journal :
WHC 2011-IEEE World Haptics Conference, WHC 2011-IEEE World Haptics Conference, Jun 2011, Istanbul, Turkey. pp.469-474, ⟨10.1109/WHC.2011.5945531⟩, World Haptics
Accession number :
edsair.doi.dedup.....dafd40eff27961ae0a775678e2c41c07
Full Text :
https://doi.org/10.1109/WHC.2011.5945531⟩