Strain limiting for soft finger contact simulation

The command of haptic devices for rendering direct interaction with the hand requires thorough knowledge of the forces and deformations caused by contact interactions on the fingers. In this paper, we propose an algorithm to simulate nonlinear elasticity under frictional contact, with the goal of es...

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Bibliographic Details
Published in2013 World Haptics Conference (WHC) pp. 79 - 84
Main Authors Perez, A. G., Cirio, G., Hernandez, F., Garre, C., Otaduy, M. A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2013
Subjects
Computational modeling
Deformable models
Elasticity
Haptic interfaces
I.2.9 [Robotics]
I.3.7 [Three Dimensional Graphics and Realism]: Virtual Reality
Limiting
Strain
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Summary:The command of haptic devices for rendering direct interaction with the hand requires thorough knowledge of the forces and deformations caused by contact interactions on the fingers. In this paper, we propose an algorithm to simulate nonlinear elasticity under frictional contact, with the goal of establishing a model-based strategy to command haptic devices and to render direct hand interaction. The key novelty in our algorithm is an approach to model the extremely nonlinear elasticity of finger skin and flesh using strain-limiting constraints, which are seamlessly combined with frictional contact constraints in a standard constrained dynamics solver. We show that our approach enables haptic rendering of rich and compelling deformations of the fingertip.
ISBN:1479900877
9781479900879
DOI:10.1109/WHC.2013.6548388