Acquisition of Elastic Models for Interactive Simulation

We present method and implementation to acquire deformable models of elastic objects. The method is based on the Green's functions matrix representation of an elastic solid. In this paper, we present a robust estimation technique for this Green's functions matrix. Robustness is achieved by regularization and a fitting technique which we describe here in detail. The underlying data for estimation are acquired with a robotic measurement system. We describe the UBC Active Measurement System (ACME) as it relates to the deformable model acquisition. In particular, we characterize the ability of ACME to record the global deformation of an object based on our previously presented range-flow technique. We provide results for two elastic objects: a plush toy and a medical physical soft-tissue wrist model. KEY WORDS--robotics, computer graphics, haptics, deformable models, model acquisition, scanning, elastic solids

• Type: Journal
• Year: 2002
• Where: IJRR
• Authors: Jochen Lang, Dinesh K. Pai, Robert J. Woodham
• Keywords: Deformable Models, Elastic Objects, Elastic Solids, IJRR 2002