HIVED - a passive system for haptic interaction and visualization of elastic deformations

This paper presents a system for haptic interaction and visualization of elastic deformations (HIVED). The system represents a platform for modeling various mechanical properties of deformable objects and is developed based on the key concept of passivity in haptic environments. Estimation of force reflection to the user´s hand, based on the law of energy conservation, creates a physically-based method that adds realism to human-haptic interaction. Implementation of the HIVED system is accomplished using GHOST SDK™ libraries on a PHANToM™ haptic device, and simulation experiments on a variety of geometries with different material properties are conducted.