Haptic Interaction with Soft Tissues Based on State-Space Approximation
| Authors | |
|---|---|
| Year of publication | 2008 |
| Type | Article in Proceedings |
| Conference | LNCS Haptics: Perception, Devices and Scenarios |
| MU Faculty or unit | |
| Citation | |
| Web | http://www.springerlink.com/content/a523v0v214mj6420/ |
| Field | Informatics |
| Keywords | haptic interaction; non-linear soft tissue modeling; interpolation |
| Description | 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. |
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