Haptic-dependent navigation & interaction of hybrid virtual models
VRCAI '04 Proceedings of the 2004 ACM SIGGRAPH international conference on Virtual Reality continuum and its applications in industry
A study of level-of-detail in haptic rendering
ACM Transactions on Applied Perception (TAP)
Multi-resolution haptic interaction of hybrid virtual environments
Proceedings of the ACM symposium on Virtual reality software and technology
A Deformable Surface Model with Volume Preserving Springs
AMDO '08 Proceedings of the 5th international conference on Articulated Motion and Deformable Objects
Surgical simulation with high-fidelity haptic feedback
International Journal of Robotics and Automation
International Journal of Robotics Research
A Multiple-FPGA parallel computing architecture for real-time simulation of soft-object deformation
ACM Transactions on Embedded Computing Systems (TECS)
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Soft objects are often desired in applications such as virtual surgery training. Soft object simulations are computationally intensive because object deformation involves numerically solving a large number of differential equations. However, realistic force feedback requires deformation be computed fast and graphic feedback requires deformation be highly detailed. In this paper, we propose an approach that balances these requirements by subdividing the area of interest on a relatively coarse mesh model. Thus we keep the number of nodes of the model under control so that the simulation can be run at a sufficiently high rate for force feedback. The model we use is based on a mass-spring model. When a portion of the surface is subdivided, new values of mass and spring constants are determined such that computed force feedback offers the user the same reaction force as before subdivision.