McNeely, W.A.Puterbaugh, K.D.Troy, J.J.2016-01-072016-01-072006-01-19Voxel-Based 6-DOF Haptic Rendering Improvements W.A. McNeely, K.D. Puterbaugh, J.J. Troy, Haptics-e, The electronic journal of haptics research, Vol. 3, No. 7, January 19, 2006.1545-1143http://hdl.handle.net/1773/34892An approach is presented for realizing an order-of-magnitude improvement in spatial accuracy for voxel-based 6-DOF haptics. It trades constant-time performance for greater spatial accuracy. This helps to make 6-DOF haptics applicable to extraordinarily complex real-world task simulations, which often admit no other known solution short of physical mockup. A reduction of haptic fidelity is tactically incurred but simultaneously mitigated by augmenting standard voxel-sampling methodology with distance fields, temporal coherence, and culling of redundant polyhedral surface interactions. This is applied to large-scale haptic scenarios involving multiple moving objects and to collaborative virtual environments.en-USArticle