SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Feeling and seeing: issues in force display
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Robust and optimal control
ArtDefo: accurate real time deformable objects
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
ACM Transactions on Graphics (TOG)
Real-Time Elastic Deformations of Soft Tissues for Surgery Simulation
IEEE Transactions on Visualization and Computer Graphics
A New Compuatitional Model of Friction Applied to Haptic Rendering
The Sixth International Symposium on Experimental Robotics VI
Haptic Subdivision: An Approach to Defining Level-of-Detail in Haptic Rendering
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Computationally Efficient Techniques for Real Time Surgical Simulation with Force Feedback
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
High-Fidelity Haptic Synthesis of Contact with Deformable Bodies
IEEE Computer Graphics and Applications
Discrimination of Virtual Haptic Textures Rendered with Different Update Rates
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
A Multirate Approach to Haptic Interaction with Deformable Objects Single and Multipoint Contacts
International Journal of Robotics Research
High-fidelity passive force-reflecting virtual environments
IEEE Transactions on Robotics
On the Synthesis of Haptic Textures
IEEE Transactions on Robotics
IEEE Transactions on Information Technology in Biomedicine
Novel Approach for Modeling Separation Forces Between Deformable Bodies
IEEE Transactions on Information Technology in Biomedicine
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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 deformable objects simulated in virtual environments, such as in surgical simulation. In this paper, a multi-rate simulation approach was developed to address this problem. The proposed method employs linear low-order approximations to model the inter-sample behavior of the high-order non-linear deformable object models. The basic method is also extended to achieve high-fidelity rendering of haptic manipulations involving sliding-type frictional contact. The proposed approach uses a local geometric model in addition to the local dynamic model, and performs collision detection and response as part of the high update rate haptic loop. Experimental results that validate the proposed methods are also presented.