A unified energy-based haptic model for a non-rigid object

Sang-Youn Kim, YoonSang Kim, Yong-Ho Yoo

In: The Institute of Electronics, Information and Communication Engineers IEICE Electronics Express (ELEX) 6 Seiten 382-388 Tokyo Institute of Technology 4/2009.


While we speak of the haptic model, we are still limited to a mass-spring representation or an FEM. This Paper proposes a unified model which haptically renders an object without reference to its material property in an energy domain. Furthermore, we develope a 3D mouse type haptic interface prototype for evaluating the proposed method. We first represent a simple 1D object with the proposed method and extend it to 2D deformable object. We experiment with a virtual object of size 20x20 elements to verify that our approach conveys stable haptic sensation to users.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence