000162554 001__ 162554
000162554 005__ 20251017144604.0
000162554 0247_ $$2doi$$a10.1007/s10055-025-01199-w
000162554 0248_ $$2sideral$$a145115
000162554 037__ $$aART-2025-145115
000162554 041__ $$aeng
000162554 100__ $$aHernández, Quercus
000162554 245__ $$aA neural network architecture for physically-consistent haptic rendering
000162554 260__ $$c2025
000162554 5060_ $$aAccess copy available to the general public$$fUnrestricted
000162554 5203_ $$aWe develop a method for realistic haptic rendering of generalized solids that employs graph neural networks. In order to give these neural networks the required realism, biases of different types are used. In the case of solids with (hyper)elastic, hence reversible, behaviour, we use Hamiltonian neural networks. These networks employ a cognitive bias that ensures energy conservation during the simulation. In the case of dissipative solids (particularly visco-hyperelastic solids) we extend the cognitive bias so that it takes into account entropy production. In this way, regardless of the type of solid considered, the developed neural networks are able to provide the haptic devices with the necessary information for a realistic and, above all, physically consistent rendering. The results are tested using a set of haptic gloves and virtual reality glasses, which have shown excellent realism, but not without certain limitations due to the state of the art in the development of hardware of this type.
000162554 536__ $$9info:eu-repo/grantAgreement/EUR/MICINN/TED2021- 130105B-I00$$9info:eu-repo/grantAgreement/ES/MTFP/TSI-100930-2023-1$$9info:eu-repo/grantAgreement/ES/UZ/ESI-ENSAM-Simulated Reality
000162554 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es
000162554 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000162554 700__ $$0(orcid)0000-0001-9732-4498$$aLopes de Sousa Martins, Pedro
000162554 700__ $$aTesan, Lucas$$uUniversidad de Zaragoza
000162554 700__ $$0(orcid)0000-0002-9135-866X$$aAlfaro, Icíar$$uUniversidad de Zaragoza
000162554 700__ $$0(orcid)0000-0003-3003-5856$$aGonzález, David$$uUniversidad de Zaragoza
000162554 700__ $$aChinesta, Francisco
000162554 700__ $$0(orcid)0000-0003-1017-4381$$aCueto, Elías$$uUniversidad de Zaragoza
000162554 7102_ $$15004$$2605$$aUniversidad de Zaragoza$$bDpto. Ingeniería Mecánica$$cÁrea Mec.Med.Cont. y Teor.Est.
000162554 773__ $$g29 (2025), [14 pp.]$$pVIRTUAL REALITY$$tVIRTUAL REALITY$$x1359-4338
000162554 8564_ $$s4070834$$uhttps://zaguan.unizar.es/record/162554/files/texto_completo.pdf$$yVersión publicada
000162554 8564_ $$s2091738$$uhttps://zaguan.unizar.es/record/162554/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000162554 909CO $$ooai:zaguan.unizar.es:162554$$particulos$$pdriver
000162554 951__ $$a2025-10-17-14:14:48
000162554 980__ $$aARTICLE