A model for efficient and accurate interaction with elastic objects in haptic virtual environments

Authors:
Dan C. Popescu;Michael Compton
Affiliations:
CSIRO, Canberra, Australia;CSIRO, Canberra, Australia
Venue:
Proceedings of the 1st international conference on Computer graphics and interactive techniques in Australasia and South East Asia
Year:
2003

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Abstract

This paper describes a method of modelling real-time interactions with elastic 3D objects represented by finite element models, which is particularly suitable for haptic virtual environments. The assumption we make is that the area of interaction of the external forces on the object is small. Our method provides a physically based solution and only requires the precomputation of the inverse of the stiffness matrix. It can be naturally coupled with a technique of local multiresolution collision detection, in order to increase geometrical accuracy while maintaining a low cost computation.Our model shows that under reasonable constraints, it is possible to meet the generally hard to reconcile requirements of having both a real-time and physically accurate simulation in a haptic virtual environment.