An Algorithm of State-Space Precomputation Allowing Non-linear Haptic Deformation Modelling Using Finite Element Method

Authors:
Igor Peterlik;Ludek Matyska
Affiliations:
Faculty of Informatics, Brno, Czech Republic;Faculty of Informatics, Brno, Czech Republic
Venue:
WHC '07 Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Year:
2007

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A physics-driven neural networks-based simulation system (phynness) for multimodal interactive virtual environments involving nonlinear deformable objects

Presence: Teleoperators and Virtual Environments
Haptic Interaction with Elastic Volumetric Structures

International Journal of Creative Interfaces and Computer Graphics

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Abstract

After presenting the mathematical background of modelling elastic deformations together with finite element formulation, we propose a new algorithm allowing haptic interaction with soft tissues having both non-linear geometric and physical properties. The algorithm consists of two phases-first the configuration space is precomputed in a high-performance possibly distributed environment, then the precomputed data are used during the haptic interaction. In the paper we focus mainly on sequential description of the first phase of the algorithm. We present some preliminary experimental results concerning the accuracy of the proposed method as well and the sketch of further extensions.