Dynamic simulation of non-penetrating flexible bodies
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Dynamic Local Models for Stable Multi-Contact Haptic Interaction with Deformable Objects
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
High-Fidelity Haptic Synthesis of Contact with Deformable Bodies
IEEE Computer Graphics and Applications
A Multirate Approach to Haptic Interaction with Deformable Objects Single and Multipoint Contacts
International Journal of Robotics Research
Contact Model for Haptic Medical Simulations
ISBMS '08 Proceedings of the 4th international symposium on Biomedical Simulation
Bimanual haptic simulator for medical training: system architecture and performance measurements
EGVE - JVRC'11 Proceedings of the 17th Eurographics conference on Virtual Environments & Third Joint Virtual Reality
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This paper introduces a new method for the computation of contact forces during the haptic interaction between a rigid probe and a soft virtual object. Tradicional methods used to estimate forces inside a haptic loop are based on a penetration distance of the haptic probe inside the virtual objects. This unnatural approach creates some visual incoherences when simulating the contact with rigid objects, but works fine on the force estimation side. For soft objects however, the use of a penetration distance makes less sense and creates many problems both visually and haptically. We propose a method that considers the penetration of the probe inside the virtual object as being an approximation error, and performs an iterative model adjustment estimating a local elasticity for the deformable object. Forces are computed incrementally. The proposed approach is independent from any particular implementation used for simulating the deformable object. The force estimation is based on the actual shape of the object, considering its deformations, allowing multiple users to interact with a same object while feeling the influence of each other. Experimental results are presented.