Abstract
The well known property of haptic interaction is the high refresh rate of the haptic loop that is necessary for the stability of the interaction. Therefore, only simple computations can be done within the loop. On the other hand, physically-based deformation modeling requires heavy computations. Moreover, if realistic behavior is desired, the models are non-linear and iterative solution is necessary.
In this paper, the technique for haptic interaction with non-linear complex model is presented. Our approach, based on approximations of configuration space, is described and the accuracy of the approximation is experimentally determined.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Misra, S., Okamura, A., Ramesh, K.T.: Force Feedback is Noticeably Different for Linear versus Nonlinear Elastic Tissue Models. In: Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces, pp. 519–524 (2007)
Popescu, D.C., Compton, M.: A model for efficient and accurate interaction with elastic objects in haptic virtual environments. In: GRAPHITE 2003: Proceedings of the 1st internat. conf. on Computer graphics and interactive techniques, pp. 245–250 (2003)
Picinbono, G., Delingette, H., Ayache, N.: Non-linear and anisotropic elastic soft tissue models for medical simulation. In: ICRA2001: IEEE Int. Conference Robotics and Automation (2001)
Zhuang, Y., Canny, J.: Real-time simulation of physically realistic global deformation. In: IEEE Vis 1999 (1999)
Wu, X., Downes, M.S., Goktekin, T., Tendick, F.: Adaptive nonlinear finite elements for deformable body simulation using dynamic progressive meshes. In: EG 2001 Proceedings, vol. 20(3), pp. 349–358 (2001)
Barbič, J., James, D.L.: Real-Time Subspace Integration of St.Venant-Kirchhoff Deformable Models. In: ACM Transactions on Graphics (ACM SIGGRAPH 2005), vol. 24(3), pp. 982–990 (2005)
Samur, E., Sedef, M., Basdogan, C., Avtan, L., Duzgun, O.: Robotic Indenter for Minimally Invasive Measurement and Characterization of Soft Tissue Behavior. In: Medical Image Analysis, vol. 11(4), pp. 361–373 (2007)
Bro-Nielsen, M.: Finite element modeling in surgery simulation. Proceedings of the IEEE 86(3), 490–503 (1998)
Pommier, J., Renard, Y.: Getfem++, an open source generic C++ library for FEM, http://www-gmm.insa-toulouse.fr/getfem
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Peterlík, I., Matyska, L. (2008). Haptic Interaction with Soft Tissues Based on State-Space Approximation. In: Ferre, M. (eds) Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science, vol 5024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69057-3_111
Download citation
DOI: https://doi.org/10.1007/978-3-540-69057-3_111
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69056-6
Online ISBN: 978-3-540-69057-3
eBook Packages: Computer ScienceComputer Science (R0)