The simulation of deformable soft objects is a key challenge in virtual reality. This paper presents a novel parallel rhombus-chain-connected haptic deformation model based on physics. Because the rhombus in every chain structure unit are proportional in length, calculation cost is less and deformation modeling is easier for different soft objects in this model by only changing the length and angle of the rhombus. Based on the model, contact deformation and virtual feedback force for virtual human liver are simulated in DELTA manipulator. The experiment results demonstrate that the parallel rhombus-chain-connected model is suit for realistic haptic rendering of soft objects.
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