Velocity driven haptic rendering

This paper presents a compact method for improving haptic rendering in virtual environments using Level Of Detail (LOD) with force feedback. We have introduced a velocity driven LOD, a new concept in using LOD in haptics. The aim of this approach differs from using LOD techniques in graphics. Our method simplifies the model according to the speed of the user's fingertip. The users fly quickly through the scene and get a rough overview of it. As they slow down, they obtain more and more details. We have enhanced this basic idea by smooth switching between two successive LODs and by mechanisms leading to a more natural perception of dynamically changing surfaces.