Haptic Rendering Based on Frame-Skeleton for Deformable Object Simulation

In this paper, a unique approach is presented to model force and deformation between a rigid body and an elastic object, which achieves a good compromise of reasonable physical realism and real-time update rate.A frame-skeleton model with rigid joint frames is introduced to simulate the global deformation of the convex or non-convex elastic object when it forms one or more than one contact.And the deflection of each rigid joint in the frame can be computed using virtual work principle for efficient deformation modeling.With the deformation displacements of the contact point and all rigid joints obtained, the global deformed shape of the entire elastic object can be achieved by the linear interpolation.This general method is implemented and tested on different examples.Results are given to demonstrate the effectiveness of the approach.