1 research outputs found
Haptic Rendering of Thin, Deformable Objects with Spatially Varying Stiffness
In the real world, we often come across soft objects having spatially varying
stiffness, such as human palm or a wart on the skin. In this paper, we propose
a novel approach to render thin, deformable objects having spatially varying
stiffness (inhomogeneous material). We use the classical Kirchhoff thin plate
theory to compute the deformation. In general, the physics-based rendering of
an arbitrary 3D surface is complex and time-consuming. Therefore, we
approximate the 3D surface locally by a 2D plane using an area-preserving
mapping technique - Gall-Peters mapping. Once the deformation is computed by
solving a fourth-order partial differential equation, we project the points
back onto the original object for proper haptic rendering. The method was
validated through user experiments and was found to be realistic.Comment: Accepted in Eurohaptics 201