Haptic Interaction with Soft Tissues Based on State-Space Approximation

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Authors

PETERLÍK Igor MATYSKA Luděk

Year of publication 2008
Type Article in Proceedings
Conference LNCS Haptics: Perception, Devices and Scenarios
MU Faculty or unit

Institute of Computer Science

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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