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@inproceedings{827538,
author = {Filipovič, Jiří and Peterlík, Igor and Matyska, Luděk},
address = {Salt Lake City, Utah, USA},
booktitle = {Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems},
keywords = {haptics; precomputation; soft tissues; deformable bodies; high performance computing},
language = {eng},
location = {Salt Lake City, Utah, USA},
isbn = {978-1-4244-3858-7},
pages = {24 - 29},
publisher = {The Institute of Electrical and Electronics Engineers},
title = {On-Line Precomputation Algorithm for Real-Time Haptic Interaction with Non-Linear Deformable Bodies},
year = {2009}
}
TY - JOUR
ID - 827538
AU - Filipovič, Jiří - Peterlík, Igor - Matyska, Luděk
PY - 2009
TI - On-Line Precomputation Algorithm for Real-Time Haptic Interaction with Non-Linear Deformable Bodies
PB - The Institute of Electrical and Electronics Engineers
CY - Salt Lake City, Utah, USA
SN - 9781424438587
KW - haptics
KW - precomputation
KW - soft tissues
KW - deformable bodies
KW - high performance computing
N2 - Soft tissue modelling is important in the realm of haptic interactions. The main challenge in this research area is to combine two basic conditions which are essential - the stability of the haptic interaction running on high refresh rate on one hand and realistic behavior of the tissue assuming computationally expensive mathematical models on the other. In this paper, a distributed algorithm addressing this challenge is presented. The algorithm is based on the precomputation-interpolation scheme when the force feedback for the actual position of the haptic interaction point (HIP) is computed by a fast interpolation from precomputed data running inside the haptic loop. The standard precomputation-interpolation scheme is modified, however, so that the data needed for the interpolation are generated directly during the interaction. The distributed algorithm and the underlying architecture are presented together with a prototype implementation. Preliminary evaluation of the algorithm using non-linear models of a human liver having more than 1700 elements shows the feasibility of the proposed approach.
ER -
FILIPOVIČ, Jiří, Igor PETERLÍK a Luděk MATYSKA. On-Line Precomputation Algorithm for Real-Time Haptic Interaction with Non-Linear Deformable Bodies. In \textit{Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems}. Salt Lake City, Utah, USA: The Institute of Electrical and Electronics Engineers, 2009, s.~24 - 29. ISBN~978-1-4244-3858-7.
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