3D chainmail: a fast algorithm for deforming volumetric objects
Proceedings of the 1997 symposium on Interactive 3D graphics
Shape retaining chain linked model for real-time volume haptic rendering
VVS '02 Proceedings of the 2002 IEEE symposium on Volume visualization and graphics
Using Linked Volumes to Model Object Collisions, Deformation, Cutting, Carving, and Joining
IEEE Transactions on Visualization and Computer Graphics
Real Time Muscle Deformations using Mass-Spring Systems
CGI '98 Proceedings of the Computer Graphics International 1998
Six-Degree-of-Freedom Haptic Display Using Localized Contact Computations
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Haptic Volume Interaction with Anatomic Models at Sub-Voxel Resolution
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Area-contact haptic simulation
IS4TM'03 Proceedings of the 2003 international conference on Surgery simulation and soft tissue modeling
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This paper presents a fast haptic rendering method providing the sense of touch from a virtual volumetric non-rigid object when a human operator interacts with the object at multiple points. Previously, we have proposed a fast volume haptic rendering method based on the shape-retaining chain linked model (or the S-chain model) that can handle the deformation of a volumetric non-rigid object and its haptic feedback in real time. One of the key differences between the S-chain model and a traditional FEM or mass-spring model is that the computation of the deformation and its reflected force is performed at a local level. When there are more than one interaction points with the object, it is necessary to consider a modeling framework that can handle human operator's all inputs together. In this paper, we propose a modeling framework in which forces generated at interaction points are vectorially summed to deal with the multiple contact points. Our experiments demonstrate that our proposed method is suitable for the real-time volume haptic rendering of a volumetric non-rigid object with multiple-contact points.