Abstract
This article addresses a largely open problem in haptic simulation and rendering: contact force and deformation modeling for haptic simulation of a discrete globe mass-spring model, especially for global deformation. The mass-spring system is composed of nodes connected with radially distributed springs. We tackle the problem using the theory of virtual work, and relations between the virtual force and nodal displacements are analyzed to obtain elastic deformations. The global deformation is controlled by the total nodal deformations based on a force equation at each node. The simulation results verify the efficiency of the contact force and deformation model with reasonable realism.
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