6-DoF Haptic Simulation of Deformable Objects

Abstract

In this chapter, the configuration-based optimization approach for 6-DoF haptic simulation is extended to handle deformable objects and hybrid contacts. In Sect. 4.1, we introduce the problem and related work for haptic rendering of deformable objects. In Sect. 4.2, we provide an overview of the approach. In Sect. 4.3, we introduce the extended sphere-tree model with springs for deformable objects and the corresponding collision detection scheme. In Sect. 4.4, we extend the configuration-based method to deformation simulation. In Sect. 4.5, we propose an efficient method to simulate hybrid contacts, which are characterized by a tool interacting with both rigid and deformable objects, such as those between a dental probe and both a rigid tooth and its surrounding gingiva. In Sect. 4.6, we explain how to update a sphere tree under deformation. In Sect. 4.7, we describe optimization for determining the configuration of the graphic tool in contact and the corresponding contact force/torque. In Sect. 4.8, we present the results of applying the method to simulating dental operations. In Sect. 4.9, we conclude the chapter and discuss future work.