{"id":"https://openalex.org/W2033849809","doi":"https://doi.org/10.1145/1198555.1198605","title":"Six degree-of-freedom haptic rendering using voxel sampling","display_name":"Six degree-of-freedom haptic rendering using voxel sampling","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2033849809","doi":"https://doi.org/10.1145/1198555.1198605","mag":"2033849809"},"language":"en","primary_location":{"id":"doi:10.1145/1198555.1198605","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1198555.1198605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM SIGGRAPH 2005 Courses on   - SIGGRAPH '05","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008318051","display_name":"William A. McNeely","orcid":null},"institutions":[{"id":"https://openalex.org/I1295339012","display_name":"Boeing (United States)","ror":"https://ror.org/04sm5zn07","country_code":"US","type":"company","lineage":["https://openalex.org/I1295339012"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William A. McNeely","raw_affiliation_strings":["The Boeing Company, P.O. Box 3707, M/S 7L-43, Seattle, WA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Boeing Company, P.O. Box 3707, M/S 7L-43, Seattle, WA","institution_ids":["https://openalex.org/I1295339012"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001743570","display_name":"Kevin D. Puterbaugh","orcid":null},"institutions":[{"id":"https://openalex.org/I1295339012","display_name":"Boeing (United States)","ror":"https://ror.org/04sm5zn07","country_code":"US","type":"company","lineage":["https://openalex.org/I1295339012"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin D. Puterbaugh","raw_affiliation_strings":["The Boeing Company, P.O. Box 3707, M/S 7L-43, Seattle, WA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Boeing Company, P.O. Box 3707, M/S 7L-43, Seattle, WA","institution_ids":["https://openalex.org/I1295339012"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000500400","display_name":"James J. Troy","orcid":null},"institutions":[{"id":"https://openalex.org/I1295339012","display_name":"Boeing (United States)","ror":"https://ror.org/04sm5zn07","country_code":"US","type":"company","lineage":["https://openalex.org/I1295339012"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James J. Troy","raw_affiliation_strings":["The Boeing Company, P.O. Box 3707, M/S 7L-43, Seattle, WA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Boeing Company, P.O. Box 3707, M/S 7L-43, Seattle, WA","institution_ids":["https://openalex.org/I1295339012"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":88.502,"has_fulltext":false,"cited_by_count":454,"citation_normalized_percentile":{"value":0.99986577,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"42","last_page":"42"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8312596082687378},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7630182504653931},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.7280426621437073},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.7171570062637329},{"id":"https://openalex.org/keywords/refresh-rate","display_name":"Refresh rate","score":0.5016331672668457},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.44439592957496643},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.4426793158054352},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4338147044181824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3539457619190216},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33008265495300293},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.2861638069152832},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2217288315296173}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8312596082687378},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7630182504653931},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.7280426621437073},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.7171570062637329},{"id":"https://openalex.org/C109034871","wikidata":"https://www.wikidata.org/wiki/Q949326","display_name":"Refresh rate","level":2,"score":0.5016331672668457},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.44439592957496643},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.4426793158054352},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4338147044181824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3539457619190216},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33008265495300293},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2861638069152832},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2217288315296173},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/1198555.1198605","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1198555.1198605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM SIGGRAPH 2005 Courses on   - SIGGRAPH '05","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.84.5611","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.84.5611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cs277.stanford.edu/papers/6dof1.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W81229994","https://openalex.org/W1574772714","https://openalex.org/W1966634937","https://openalex.org/W1982864747","https://openalex.org/W1999250663","https://openalex.org/W2041812519","https://openalex.org/W2046931544","https://openalex.org/W2062691475","https://openalex.org/W2094539937","https://openalex.org/W2096147331","https://openalex.org/W2105333183","https://openalex.org/W2109226184","https://openalex.org/W2112420768","https://openalex.org/W2114025819","https://openalex.org/W2140855498","https://openalex.org/W2148307697","https://openalex.org/W2149925599","https://openalex.org/W2156611301","https://openalex.org/W2234650683","https://openalex.org/W2288146251","https://openalex.org/W2293779956","https://openalex.org/W2545408749","https://openalex.org/W3028243704"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W2070240107","https://openalex.org/W54055325"],"abstract_inverted_index":{"A":[0,105],"simple,":[1],"fast,":[2],"and":[3,28,66,149,185],"approximate":[4],"voxel-based":[5],"approach":[6],"to":[7,25,68,78,179],"6-DOF":[8,120],"haptic":[9,20,29,121,131,137],"rendering":[10,30],"is":[11,76,124],"presented.":[12],"It":[13,32,51],"can":[14,190],"reliably":[15],"sustain":[16],"a":[17,37,53,70,90,98,114,117,127,140,154,162],"1000":[18,129],"Hz":[19,130],"refresh":[21,132],"rate":[22,133],"without":[23],"resorting":[24],"asynchronous":[26],"physics":[27],"loops.":[31],"enables":[33],"the":[34,58,63,87],"manipulation":[35],"of":[36,47,89,107,157,175],"modestly":[38],"complex":[39,45,164],"rigid":[40,49],"object":[41,65],"within":[42],"an":[43],"arbitrarily":[44],"environment":[46],"static":[48,59],"objects.":[50],"renders":[52],"short-range":[54],"force":[55,93,151],"field":[56],"surrounding":[57],"objects,":[60],"which":[61],"repels":[62],"manipulated":[64],"strives":[67],"maintain":[69],"voxel-scale":[71,192],"minimum":[72,193],"separation":[73,194],"distance":[74],"that":[75,189],"known":[77],"preclude":[79],"exact":[80],"surface":[81,170],"interpenetration.":[82],"Force":[83],"discontinuities":[84],"arising":[85],"from":[86,134],"use":[88],"simple":[91],"penalty":[92],"model":[94],"are":[95],"mitigated":[96],"by":[97],"dynamic":[99],"simulation":[100],"based":[101],"on":[102],"virtual":[103,165],"coupling.":[104],"generalization":[106],"octree":[108],"improves":[109],"voxel":[110],"memory":[111],"efficiency.":[112],"In":[113],"preliminary":[115],"implementation,":[116],"commercially":[118],"available":[119],"prototype":[122],"device":[123],"driven":[125],"at":[126],"constant":[128],"one":[135],"dedicated":[136],"processor,":[138],"with":[139,167],"separate":[141],"processor":[142],"for":[143,153],"graphics.":[144],"This":[145,173],"system":[146],"yields":[147],"stable":[148],"convincing":[150],"feedback":[152],"wide":[155],"range":[156],"user":[158],"controlled":[159],"motion":[160],"inside":[161],"large,":[163],"environment,":[166],"very":[168],"few":[169],"interpenetration":[171],"events.":[172],"level":[174],"performance":[176],"appears":[177],"suited":[178],"applications":[180],"such":[181],"as":[182],"certain":[183],"maintenance":[184],"assembly":[186],"task":[187],"simulations":[188],"tolerate":[191],"distances.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":21},{"year":2015,"cited_by_count":16},{"year":2014,"cited_by_count":16},{"year":2013,"cited_by_count":26},{"year":2012,"cited_by_count":25}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}