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

Abstract

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 develop 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 20×20 elements to verify that our approach conveys stable haptic sensation to users. © IEICE 2009.