A Novel Parallel Rhombus-Chain-Connected Model for the Haptic Simulation of Soft Objects

Author

Zhang, Xiaorui ; Song, Aiguo ; Sun, Wei ; Liu, Jia

Author_Institution

Dept. of Instrum. Sci. & Eng., Southeast Univ., Nanjing

Volume

2

fYear

2008

fDate

19-20 Dec. 2008

Firstpage

823

Lastpage

827

Abstract

The simulation of deformable soft objects is a key challenge in virtual reality. This paper presents a novel parallel rhombus-chain-connected haptic deformation model based on physics. Because the rhombus in every chain structure unit are proportional in length, calculation cost is less and deformation modeling is easier for different soft objects in this model by only changing the length and angle of the rhombus. Based on the model, contact deformation and virtual feedback force for virtual human liver are simulated in DELTA manipulator. The experiment results demonstrate that the parallel rhombus-chain-connected model is suit for realistic haptic rendering of soft objects.

Keywords

digital simulation; haptic interfaces; rendering (computer graphics); virtual reality; deformation modeling; feedback force; parallel rhombus-chain-connected model; realistic haptic rendering; soft objects haptic simulation; virtual human liver; virtual reality; Computational modeling; Deformable models; Equations; Force feedback; Haptic interfaces; Humans; Physics; Torque; Virtual environment; Virtual reality; haptic feedback; parallel rhombus-chain-connected model; softness haptic display; virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence and Industrial Application, 2008. PACIIA '08. Pacific-Asia Workshop on

Conference_Location

Wuhan

Print_ISBN

978-0-7695-3490-9

Type

conf

DOI

10.1109/PACIIA.2008.200

Filename

4756891