Haptic Representation of Elastic Objects

In this paper, a method for visually and haptically representing elastic objects in a virtual environment is proposed. A linear FEM (finite-element method) model is employed to define the elasticity of an object. By computing the inverse stiffness matrix in advance, the force and the displacement according to the interaction are obtained in real time using the precomputed inverse stiffness matrix. Based on the fast-computation method of FEM, an approach for implementing an elastic virtual object is proposed. In this approach, a force interpolation method is introduced to realize a smooth change of the feedback force on the surface of objects. Moreover, the force update process and deformation process are executed asynchronously to attain a high update rate of force.