Kevin C. Walker and David W.L. Wang
Haptics, robot control, virtual reality, deformable objects
This paper presents a new modelling technique for deformable objects in haptic virtual environments. Closed-form analytical solutions from continuum mechanics for the deformable infinite half-space are incorporated into a haptic virtual environment, and extensions to curved geometries and heterogeneous materials are presented. Using analytical solutions allows us to run the physics engine at haptic rates and decouples the physics engine from the graphic representation of the scene, leading to computationally efficient solutions. Experimental results demonstrating the performance of our design are presented and a comparison to a standard mass–spring–damper system are demonstrated.
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