Haptic Simulation of Linear Elastic Media with Fluid Inclusions
نویسندگان
چکیده
We present a fast technique for simulating fluid-filled elastic objects with the Finite Element Method. By simulating the presence of fluid with hydrostatic fluid pressure, a quasi-static simulation of fluid can be achieved by applying a force boundary condition to the nodes on the fluidelastic interface. Using a proportional feedback control algorithm, a relationship between the volume and pressure of the fluid structure can be maintained. Optimal parameters for the control algorithm are found by determining the response of the elastic system to changes in pressure. This approach has been shown to agree with experimental deformation data taken from a fluid-filled gelatin phantom. Combining linear FEM methods with matrix condensation techniques and the tuned proportional feedback control allows for the simulation of a fluid-filled elastic object at real-time haptic update rates.
منابع مشابه
Six-DoF Haptic Interaction with Fluids, Solids, and their Transitions
Haptic interaction with different types of materials in the same scene is a challenging task, mainly due to the specific coupling mechanisms that are usually required for either fluid, deformable or rigid media. Dynamically-changing materials, such as melting or freezing objects, present additional challenges by adding another layer of complexity in the interaction between the scene and the hap...
متن کاملInclusions on fluid membranes anchored to elastic media.
We model theoretically the effect of localized forces on a fluid membrane anchored to a uniform elastic medium. We use this as a simple model for the plasma membrane of a cell. The atomic force microscope (AFM) has been used to apply such forces, but large membrane perturbations occurring in vivo are also treated within the same framework. Inclusions of this nature may include cell junctions, f...
متن کاملPropagation of Waves at an Interface of Heat Conducting Elastic Solid and Micropolar Fluid Media
The present investigation is concerned with the reflection and transmission coefficients of plane waves at the interface of generalized thermoelastic solid half space and heat conducting micropolar fluid half- space. The amplitude ratios of various reflected and transmitted waves with various angle of incidence have been computed numerically and depicted graphically. Micropolarity and thermal r...
متن کامل"Tap, squeeze and stir" the virtual world: Touching the different states of matter through 6DoF haptic interaction
Haptic interaction with virtual objects is a major concern in the virtual reality field. There are many physically-based efficient models that enable the simulation of a specific type of media, e.g. fluid volumes, deformable and rigid bodies. However, combining these often heterogeneous algorithms in the same virtual scene in order to simulate and interact with different types of media can be a...
متن کامل