Multi-contact Haptic Interaction with Deformable Objects: A Multi-rate Approach

Author(s):  
Federico Barbagli ◽  
Domenico Prattichizzo ◽  
Kenneth Salisbury
Author(s):  
Wen Shi ◽  
Shahram Payandeh

In this paper, a novel haptic interaction framework for deformable objects is introduced and discussed. Unlike existing frameworks, the proposed approach is based on point-based mechanics framework. Contrary to the finite-element method, the method of this paper does not rely on any predefined mesh representation, and it also incorporates real material properties in the modeling framework. As a result, the haptic interaction produces realistic model behaviour and force feedback. In addition, the framework can be constructed using the actual 3D volume data obtained from various imaging modalities. In this paper, preliminarily implementation issues of this new frame work are discussed and experimental data are compared to the FEM.


2006 ◽  
Vol 18 (4) ◽  
pp. 409-417 ◽  
Author(s):  
Osama Halabi ◽  
◽  
Vytautas Daniulaitis ◽  
Haruhisa Kawasaki ◽  
Tetsuya Mouri ◽  
...  

Maintaining a stable haptic interaction with virtual environments, especially with physically-based deformable objects, has long been an active area of research. We address this issue by presenting a comprehensive haptic system architecture and virtual reality simulation, where a physically-based modeling using the Finite Element Method (FEM) combined with an “elementary displacement” approach has been implemented. This approach ensures the stability of haptic interaction with deformable objects and considers interaction with multipoints contacts. The Future Haptic Science Encyclopedia (FHSE) we developed to verify our proposal and demonstrate the new haptic interface HIRO II. We also present an objective and subjective evaluation of FHSE simulation.


2017 ◽  
Vol 10 (2) ◽  
pp. 240-253 ◽  
Author(s):  
Clemens Schuwerk ◽  
Xiao Xu ◽  
Eckehard Steinbach

2005 ◽  
Vol 24 (9) ◽  
pp. 703-715 ◽  
Author(s):  
Federico Barbagli ◽  
Domenico Prattichizzo ◽  
Kenneth Salisbury

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