Future Haptic Science Encyclopedia: Realistic Stable Haptic Interaction with Highly Deformable Objects Using HIRO-II
Osama Halabi*, Vytautas Daniulaitis**, Haruhisa Kawasaki***,
Tetsuya Mouri***, and Yoshio Ohtuka***
*Department of Computer Science, Faculty of Engineering, Iwate University, 4-3-5 Ueda, Morioka 020-8551, Japan
**System Analysis Department, Kaunas University of Technology, Studentu 50-403a, Kaunas LT-50250, Lithuania
***Department of Human Information System, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
Maintaining a stable haptic interaction with virtual environments, especially with physically-based deformable objects, has long been an active area of research. We address this issue by presenting a comprehensive haptic system architecture and virtual reality simulation, where a physically-based modeling using the Finite Element Method (FEM) combined with an “elementary displacement” approach has been implemented. This approach ensures the stability of haptic interaction with deformable objects and considers interaction with multipoints contacts. The Future Haptic Science Encyclopedia (FHSE) we developed to verify our proposal and demonstrate the new haptic interface HIRO II. We also present an objective and subjective evaluation of FHSE simulation.
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