Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments

A new computer haptics algorithm to be used in general interactive manipulations of deformable virtual objects is presented. In multimodal interactive simulations, haptic feedback computation often comes from contact forces. Subsequently, the fidelity of haptic rendering depends significantly on contact space modeling. Contact and friction laws between deformable models are often simplified in up to date methods. They do not allow a "realistic" rendering of the subtleties of contact space physical phenomena (such as slip and stick effects due to friction or mechanical coupling between contacts). In this paper, we use Signorini's contact law and Coulomb's friction law as a computer haptics basis. Real-time performance is made possible thanks to a linearization of the behavior in the contact space, formulated as the so-called Delassus operator, and iteratively solved by a Gauss-Seidel type algorithm. Dynamic deformation uses corotational global formulation to obtain t...

• Type: Journal
• Year: 2008
• Where: CORR
• Authors: Christian Duriez, Frédéric Dubois, Abderrahmane Kheddar, Claude Andriot
• Keywords: Contact Space, CORR 2008, Education, Friction Law, Haptic Feedback