Haptic Rendering of Solid Object Submerged in Flowing Fluid with Environment Dependent Texture

  • Avirup MandalEmail author
  • Dwaipayan Sardar
  • Subhasis Chaudhuri
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10894)


Haptic rendering of complex scenes where interacting materials coexist at different states is a challenging task. In our work, we propose an equal sized, Smoothed Particle Hydrodynamics (SPH) based novel technique to render stable, real-time and realistic haptic force feedback of a dynamic solid-fluid hybrid environment. Along with force feedback, a space varying solid object texture is also rendered using a depth map differencing approach and further improved by mapping custom material friction on the object surface. The setup has been implemented on a single, mid-end GPU achieving a frame rate of 300 frames/second for 65000 particles. The quantitative and qualitative evaluations are done using feedback forces and user study, respectively and compared with state of the art.


Haptic rendering Unified particle model Position based dynamics Object texture Buoyancy 

Supplementary material

Supplementary material 1 (mp4 5703 KB)


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Avirup Mandal
    • 1
    Email author
  • Dwaipayan Sardar
    • 1
  • Subhasis Chaudhuri
    • 1
  1. 1.Vision and Image Processing Lab, Department of Electrical EngineeringIndian Institute of Technology BombayMumbaiIndia

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