Shape retaining chain linked model for real-time volume haptic rendering
VVS '02 Proceedings of the 2002 IEEE symposium on Volume visualization and graphics
A model for efficient and accurate interaction with elastic objects in haptic virtual environments
Proceedings of the 1st international conference on Computer graphics and interactive techniques in Australasia and South East Asia
Local Model of Interaction for Haptic Manipulation of Rigid Virtual Worlds
International Journal of Robotics Research
Tissue cutting using finite elements and force feedback
IS4TM'03 Proceedings of the 2003 international conference on Surgery simulation and soft tissue modeling
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
Multi-finger haptic rendering of deformable objects
EGVE'04 Proceedings of the Tenth Eurographics conference on Virtual Environments
A vision-based approach for estimating contact forces: Applications to robot-assisted surgery
Applied Bionics and Biomechanics
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Previous works have presented solutions for stability problems arising from the difference between the sampling rate requirements for haptic devices (about 1 KHz) and the update rates of the physic alobjects being simulated (about 10 Hz). These methods work well when the objects are convex and non-deformable but when the object is deformable these methods might fail in obtaining realistic force feedback and exact graphical rendering. The reason of this is due to the concavities and unknown shapes that may appear in the deformable objects. This paper proposes to make the haptic interaction with the local topology of the object and therefore taking into account the unknown changes and the concavities in the object shape. This local model will be updated at the simulation frequency rate.