An Algorithm of State-Space Precomputation Allowing Non-linear Haptic Deformation Modelling Using Finite Element Method
| Authors | |
|---|---|
| Year of publication | 2007 |
| Type | Article in Proceedings |
| Conference | Second Joint EuroHaprics Conference and Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems |
| MU Faculty or unit | |
| Citation | |
| Field | Informatics |
| Keywords | haptic interaction; soft tissue modelling; finite element method; state space precomputation |
| Description | After presenting the mathematical background of modelling elastic deformations together with finite element formulation, we propose a new algorithm allowing haptic interaction with soft tissues having both non-linear geometric and physical properties. The algorithm consists of two phases -- first the configuration space is precomputed in ahigh-performance possibly distributed environment, then the precompute d data are used during the haptic interaction. In the paper we focus mainly on sequential description of the first phase of the algorithm. We present some preliminary experimental results as well and the sketch of further extensions |
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