Haptic Interaction with Complex Models Based on Precomputations
| Authors | |
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| Year of publication | 2010 |
| Type | Chapter of a book |
| MU Faculty or unit | |
| Citation | |
| Description | There have been several approaches proposed so far to address the issue of coupling the heavy computations with high refresh rate of the haptic loop. Basically, two main classes of solutions can be identified: either simplified models based on linearization or reduction are used, or some precomputation is employed before the real-time interaction takes place. In the first part of this chapter, an overview of the methods proposed in last decade is presented. Some of them are described in more detail to emphasize the key concepts which are used frequently in haptic soft-tissue modeling nowadays. In the second part of the chapter, an approach based on precomputation and interpolation of precomputed data is presented. The technique consists of two procedures: first, it is a construction of a discrete set of data, which can be performed in reasonable time on today's computers. Second, it is a fast approximation of an arbitrary deformation which is needed during the real-time interaction using only the data from the discrete set constructed by the first procedure. |
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