Haptic Simulation of Deformable Bodies with Consideration of the Human Sensation of Continuous Forces

This paper addresses an improvement for the force calculation in haptic simulations. Thereby the human perception of forces is incorporated in the solution algorithm of the reaction forces. An experiment is presented where the human sensation of continuous forces is determined. The result is integrated in the static and dynamic simulation of soft contacts, which are modeled using the finite-element-method. The solution of the system of equation is done by an iterative method, which is extended with an additional break condition for the human force perception. An example with the conjugate gradient solver shows the benefit of the approach.