A Mass-Spring Model for Haptic Display of Flexible Object Global Deformation

Author

Tong, Cui ; Song, Aiguo ; Juan, Wu

Author_Institution

Southeast Univ., Nanjing

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

2753

Lastpage

2757

Abstract

The global deformation model of virtual object by force is a key issue for haptic interaction between human and virtual reality. A discrete globe mass -spring model is proposed for flexible object deformation, and its surface is divided radially along the force center. The mass-spring system is composed of the nodes connected with radial distributed springs. Using the theory of virtual work, the relations between virtual force and nodal displacements are analyzed to get global deformations. Object globe deformation is simulated by measuring the nodal deformations based on a force equation at each node. According to the model, the deformation of the flexible object is simulated, and synchronously the real-time virtual contact force is provided with delta haptic device.

Keywords

computer displays; force feedback; haptic interfaces; virtual reality; discrete globe mass-spring model; flexible object global deformation; haptic display; haptic feedback; haptic interaction; nodal displacements; radial distributed springs; real-time virtual contact force; virtual reality; Computational modeling; Deformable models; Displays; Equations; Force feedback; Force measurement; Haptic interfaces; Humans; Springs; Virtual environment; haptic feedback; mass-spring model; virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303994

Filename

4303994