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World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
ISBN: 978-1-4244-3858-7
pp: 393-394
Jernej Barbic , Massachusetts Institute of Technology, USA
Doug L. James , Cornell University, USA
In this demonstration, we show haptic results from our research on distributed contact between deformable objects with complex geometry [1, 2, 3]. The demos run at 1000 Hz, and support 6-DoF haptic rendering. Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. We demonstrate a spatially and temporally adaptive approach to approximate distributed contact forces under hard real-time constraints. Our method is CPU based, and supports contact between rigid or reduced deformable models with complex geometry. We propose a contact model that uses a point-based representation for one object, and a signed-distance field for the other. This model is related to the Voxmap Pointshell Method (VPS), but gives continuous contact forces and torques, enabling stable rendering of stiff penalty-based distributed contacts.

J. Barbic and D. L. James, "Six-DoF haptic rendering of contact between geometrically complex reduced deformable models: Haptic demo," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 393-394.
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