A New Haptic Model Using Bond Graphs

Main difficulty in the haptic rendering is to compute and generate stable feedback force from not only rigid objects but also deformable object with a same haptic model. This paper presents a new model which can simulate the haptic behavior of rigid/deformable objects without changing haptic representation. We call this representation unified haptic model. For constructing unified haptic model, we use a bond graph representation which is a unified modeling method of a wide range of materials in the energy domain. Using bond graphs, we first define a 1D particle model for elastic and plastic deformation. After that it is extended to 2D and 3D deformable models. Finally, the proposed model is simulated and animated.