Force/Shape Reappearance of MSD Rheology Model Calibrated by Force/Shape Sequence

In this paper, we firstly push or pull real and virtual rheology objects by the same displacement or force sequence. Then by minimizing the difference between shape or force sequences of real and virtual objects, we calibrate many parameters of rheology MSD (mass-spring-damper) model, pull-off force model and friction force model between a rigid object and its pushing or pulling rheology one. The calibration is done by a probabilistic search (genetic algorithm). In a few years, we have deeply investigated "pushed, calibrated, and evaluated by shape sequence" and also "pushed, calibrated, and evaluated by force sequence". In this paper, we completely compare all the eight possibilities. Consequently, we get the best visual reality under push and calibration by shape sequence, and also the wonderful tactile reality under push and calibration by force sequence. Moreover, we ascertain reappearance of force or shape sequence when sensing data (pushing operation) in calibration differ from sensing data (pushing operation) in evaluation. Finally, we find a practical defective point for us to manipulate a virtual deformable object in a 3D CG environment. A human operator cannot push or pull a rheology object by a rigid body via force sequence because any force sensor is not equipped in his hand. To overcome this problem in future, we should build some collision model between rigid and rheology objects, which always transforms pushing displacement and velocity into pushing force in the 3D CG environment.