A Solution for the Di erence Rate Sampling Between Haptic Devicesand Deformable Virtual ObjectsC

Previous works have presented solutions for stability problems arising from the diierence between the sampling rate requirements for haptic devices (about 1 KHz) and the update rates of the physical objects being simulated (about 10 Hz). These methods work well when the objects are convex and non-deformable but when the object is deformable these methods might fail in obtaining realistic force feedback and exact graphical rendering. The reason of this is due to the concavities and unknown shapes that may appear in the deformable objects. This paper proposes to make the haptic interaction with the local topology of the object and therefore taking into account the unknown changes and the concavities in the object shape. This local model will be updated at the simulation frequency rate. Thanks to David Raulo, for his technical support in the development of the visual-haptic software platform. Abstract Previous works have presented solutions for stability problems arising from the diierence between the sampling rate requirements for haptic devices (about 1 KHz) and the update rates of the physical objects being simulated (about 10 Hz). These methods work well when the objects are convex and non-deformable but when the object is deformable these methods might fail in obtaining realistic force feedback and exact graph-ical rendering. The reason of this is due to the con-cavities and unknown shapes that may appear in the deformable objects. This paper proposes to make the haptic interaction with the local topology of the object and therefore taking into account the unknown changes and the con-cavities in the object shape. This local model will be updated at the simulation frequency rate.