Automatica (Journal of IFAC)
ArtDefo: accurate real time deformable objects
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Dynamic real-time deformations using space & time adaptive sampling
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Real-Time Elastic Deformations of Soft Tissues for Surgery Simulation
IEEE Transactions on Visualization and Computer Graphics
Measurement, analysis, and display of haptic signals during surgical cutting
Presence: Teleoperators and Virtual Environments
A New Compuatitional Model of Friction Applied to Haptic Rendering
The Sixth International Symposium on Experimental Robotics VI
CA '99 Proceedings of the Computer Animation
VR '01 Proceedings of the Virtual Reality 2001 Conference (VR'01)
High-Fidelity Haptic Synthesis of Contact with Deformable Bodies
IEEE Computer Graphics and Applications
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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 force-deflections 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.