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Issue No. 01 - January-March (2009 vol. 2)
ISSN: 1939-1412
pp: 15-27
Raphael Höver , ETH Zurich, Zurich
Gábor Kósa , ETH Zurich, Zurich
Gábor Székely , ETH Zurich, Zurich
Matthias Harders , ETH Zurich, Zurich
In this article we present extensions of our earlier work on data-driven haptic rendering. Haptic feedback is generated directly by interpolating measured data. The selection of appropriate data dimensions is guided by the structure of the generalized Maxwell model. Material elasticity and viscosity are reproduced, including transient material effects like stress relaxation. All these properties can be nonlinear and mutually dependent. Besides visco-elastic bodies, we also apply our method to viscous fluids. We present results for several materials and compare the errors of the interpolated forces with perceptual thresholds reported in the literature. Moreover, we examine how these errors behave if different subjects perform the recordings on which the data-driven haptic feedback is based.
Modeling methodologies, Modeling and recovery of physical attributes, Representations, data structures, and transforms

G. Székely, G. Kósa, R. Höver and M. Harders, "Data-Driven Haptic Rendering—From Viscous Fluids to Visco-Elastic Solids," in IEEE Transactions on Haptics, vol. 2, no. , pp. 15-27, 2009.
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