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A Mass Spring Model for Physically-Realistic Haptic Rendering of Deformable Objects
Journal
Proceedings - 2022 International Symposium on Electrical, Electronics and Information Engineering, ISEEIE 2022
Date Issued
2022-01-01
Author(s)
Suryawanshi, Pradeepkumar
Gupta, Abhishek
Abstract
Mass-spring systems (MSS) are extensively used for haptic rendering of soft materials due to ease of implementation for real-time simulations. One of the major challenges in using MSS is determination of system parameters such as node mass, spring stiffness, spring damping coefficients and mesh topology. Most of the proposed approaches to determine model parameters are either application specific or limited to a specific choice of material properties. In earlier work, we have presented a square MSS topology that incorporates additional springs to ensure physically realistic simulations, and provided a method to compute mass and spring parameters analytically based upon properties of the material. In this work, we demonstrate the effectiveness of the proposed MSS structure in simulating dynamic interactions through haptic simulations of a tapping task using a Phantom haptic device. Further, we show that the MSS structure can be used for haptic simulations involving large deformations through a membrane indentation experiment.
Subjects