Haptic Simulation of a Tool in Contact with a Nonlinear Deformable Body
نویسندگان
چکیده
This paper presents a method to artificially re-create haptic feedback while moving and sliding an arbitrary virtual tool against a virtual deformable body with nonlinear elastic properties. The computation of the response in such general cases is a task which does not yet admit computational solutions suitable for realtime implementation. To address this, we describe an approach based on the bookkeeping of forcedeflections curves stored at the nodes of a triangulated body surface. For realism, normal and lateral deformations at each node are represented in a range of deflection distances. The response everywhere is synthesized via area interpolation of response curves stored at the nodes of the mesh. The mathematical continuity of the synthetic response is the result of both local coordinates interpolation and of response function interpolation, which previous methods did not account for. This guarantees the absence of haptic ‘clicks’ and ‘pops’ which are unacceptable artifacts in high fidelity simulations. Sliding contacts are also considered.
منابع مشابه
Real-time Reduced Large-Deformation Models and Distributed Contact for Computer Graphics and Haptics PhD Thesis
This thesis presents novel algorithms for deformable dynamics, collision detection and contact resolution between reduced nonlinear 3D deformable objects, for use in interactive computer graphics and haptics. The deformable models investigated are elastic, volumetric, and capable of undergoing large deformations. Each mesh vertex of a general 3D deformable object has three degrees of freedom. N...
متن کاملModeling Complex Contacts Involving Deformable Objects for Haptic and Graphic Rendering
Haptic rendering involving deformable objects has seen many applications, from surgical simulation and training, to virtual prototyping, to teleoperation, etc. High quality rendering demands both physical fidelity and real-time performance, which are often conflicting requirements. In this paper, we simulate contact force between a held rigid body and an elastic object and the corresponding sha...
متن کاملReal-time Reduced Large-Deformation Models and Distributed Contact for Computer Graphics and Haptics
This thesis presents novel algorithms for deformable dynamics, collision detection and contact resolution between reduced nonlinear 3D deformable objects, for use in interactive computer graphics and haptics. The deformable models investigated are elastic, volumetric, and capable of undergoing large deformations. Each mesh vertex of a general 3D deformable object has three degrees of freedom. N...
متن کاملHaptic rendering of objects with rigid and deformable parts
In many haptic applications, the user interacts with the virtual environment through a rigid tool. Tool-based interaction is suitable in many applications, but the constraint of using rigid tools is not applicable to some situations, such as the use of catheters in virtual surgery, or of a rubber part in an assembly simulation. Rigid-tool-based interaction is also unable to provide force feedba...
متن کاملHigh Fidelity Haptic Rendering of Frictional Contact with Deformable Objects in Virtual Environments using Multi-rate Simulation
Haptics is an increasingly common modality in human-computer interfacing. The focus of this paper is the problem arising from the difference between the high sampling rate requirements of haptic interfaces and the significantly lower update rates for physical models simulated in virtual environments. This is a critical problem, especially for applications involving haptic manipulation of deform...
متن کامل