Efficient Precomputation of Configuration Space for Haptic Deformation Modeling

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Authors

PETERLÍK Igor

Year of publication 2008
Type Article in Proceedings
Conference Proceedings of Conference on Human System Interactions, 2008
MU Faculty or unit

Institute of Computer Science

Citation
Web http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4581438
Field Informatics
Keywords human-computer interaction; haptic interaction; soft tissue modeling; non-linear systems
Description Haptic interaction with deformable objects is a key concept in design of surgical simulators. However, due to high refresh rate of haptic loop, it is difficult to model realistic behavior of the objects as the physically-based deformations require demanding iterative computations. After a brief overview of the mathematical background, a technique combining the computationally expensive model and real-time haptic interaction is described. The technique is based on precomputation and approximation of configuration spaces. Paper is focused on the first phase of the technique -- the extensive precomputation and the efficient implementation. In the result section, some statistical evaluation concerning the accuracy of the method is given.
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