On-Line Precomputation Algorithm for Real-Time Haptic Interaction with Non-Linear Deformable Bodies
| Authors | |
|---|---|
| Year of publication | 2009 |
| Type | Article in Proceedings |
| Conference | Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems |
| MU Faculty or unit | |
| Citation | |
| Field | Informatics |
| Keywords | haptics; precomputation; soft tissues; deformable bodies; high performance computing |
| Description | Soft tissue modelling is important in the realm of haptic interactions. The main challenge in this research area is to combine two basic conditions which are essential - the stability of the haptic interaction running on high refresh rate on one hand and realistic behavior of the tissue assuming computationally expensive mathematical models on the other. In this paper, a distributed algorithm addressing this challenge is presented. The algorithm is based on the precomputation-interpolation scheme when the force feedback for the actual position of the haptic interaction point (HIP) is computed by a fast interpolation from precomputed data running inside the haptic loop. The standard precomputation-interpolation scheme is modified, however, so that the data needed for the interpolation are generated directly during the interaction. The distributed algorithm and the underlying architecture are presented together with a prototype implementation. Preliminary evaluation of the algorithm using non-linear models of a human liver having more than 1700 elements shows the feasibility of the proposed approach. |
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