Pump it up: computer animation of a biomechanically-based model of muscle using the finite element method
Haptic rendering: programming touch interaction with virtual objects
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
A haptic interaction method for volume visualization
Proceedings of the 7th conference on Visualization '96
3D chainmail: a fast algorithm for deforming volumetric objects
Proceedings of the 1997 symposium on Interactive 3D graphics
Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
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
Realistic Haptic Rendering for Highly Deformable Virtual Objects
VR '01 Proceedings of the Virtual Reality 2001 Conference (VR'01)
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
Multiple-contact representation for the real-time volume haptic rendering of a non-rigid object
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
A haptics-based virtual simulation system for product design
International Journal of Computer Applications in Technology
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Haptic rendering is the process of computing and generating forces in response to user interactions with virtual objects. While we speak of real-time volume rendering for visualization, we are still very much limited to surface models for manipulation due to overwhelming computational requirements for volumetric models. In this paper, we propose a new volumetric deformable model that is suitable for volume haptic interactions. The volume elements of our proposed model are linked to their nearest neighbors and their displacements are transformed into potential energy of the virtual object. The original 3D ChainMail algorithm does not account the fact that the residual energy left in the object after some interactions becomes a critical problem in haptic rendering. We present the shape-retaining chain linked model, which allows for fast and realistic deformation of elastic objects. Furthermore, we incorporate force-voltage analogy (duality) concepts into the proposed shape-retaining chain linked representation in order to develop a fast volumetric haptic model that is suitable for real-time applications. We experimented with homogenous and non-homogenous virtual objects of size 75×75×75 volume elements, and we were able to verify real-time and realistic haptic interaction with a 3DOF PHANToM™ haptic device.