Haptic simulation of linear elastic media with fluid pockets

Authors:
Andrew H. Gosline;Septimiu E. Salcudean;Joseph Yan
Affiliations:
Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, Canada;Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, Canada;Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, Canada
Venue:
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Year:
2004

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Abstract

A fast technique for simulating fluid pockets enclosed in an elastic body has been developed using the Finite Element Method. By treating fluid pressure as a force boundary condition, the relationship between the volume and pressure of a fluid cavity can be enforced with an iterative solver. This computational approach has been shown to agree with experimental data taken from a gelatin phantom that contains a small fluid pocket. Combining linear methods and condensation techniques with this iterative solver, fast simulation of elastic bodies that include fluid pockets can be achieved. For example, an extension of a two dimensional needle insertion simulation can be carried out at 512Hz for a 24 node incompressible fluid pocket.