Haptic Rendering: Introductory Concepts
IEEE Computer Graphics and Applications
A Multirate Approach to Haptic Interaction with Deformable Objects Single and Multipoint Contacts
International Journal of Robotics Research
Cutting on Triangle Mesh: Local Model-Based Haptic Display for Dental Preparation Surgery Simulation
IEEE Transactions on Visualization and Computer Graphics
A differential method for the haptic rendering of deformable objects
Proceedings of the ACM symposium on Virtual reality software and technology
Haptic Simulation of Manipulator Collisions Using Dynamic Proxies
Presence: Teleoperators and Virtual Environments
Contact Model for Haptic Medical Simulations
ISBMS '08 Proceedings of the 4th international symposium on Biomedical Simulation
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
Haptic rendering with predictive representation of local geometry
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Dynamic deformation using adaptable, linked asynchronous FEM regions
Proceedings of the 25th Spring Conference on Computer Graphics
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This paper describes a nw technique for allowing multiple users to haptically interact with a set of deformable slowly-simulated objects in a stable manner. Stability has been approached in the past by various researchers using passivity theory in order to avoid having to model the human operator closing the haptic loop. None of these solutions however can work well without the use of high update rates and thus break down in the case of haptic interaction with slowly simulated virtual environments such as the ones featuring highly precise deformable objects. This is particularly true for the case of surgical simulation with force feedback, here precision is a key issue and here complexity can reach high levels. The techniques presented in this paper are based on the concepts of local model for haptic interaction adapted to deformable objects. Such approach allows multiple users to stably interact with a same object while feeling the influence of other users on the same object. Experimental results employing a PHANTOM haptic interface are proposed for a simple example.