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Haptic Rendering of Thin, Deformable Objects with Spatially Varying Stiffness

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Haptics: Perception, Devices, Control, and Applications (EuroHaptics 2016)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 9774))

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In real world, we often come across with soft objects having spatially varying stiffness such as human palm or a wart on the skin. In this paper, we propose a novel approach to render thin, deformable objects having spatially varying stiffness (inhomogeneous material). We use the classical Kirchhoff thin plate theory to compute the deformation. In general, physics based rendering of an arbitrary 3D surface is complex and time consuming. Therefore, we approximate the 3D surface locally by a 2D plane using an area preserving mapping technique - Gall-Peters mapping. Once the deformation is computed by solving a fourth order partial differential equation, we project the points back onto the original object for proper haptic rendering. The method was validated through user experiments and was found to be realistic.

Funding supports from Bharti Centre for Communication, NPPE Project from DeitY and The Indian Digital Heritage Project are gratefully acknowledged.

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Correspondence to Priyadarshini Kumari .

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Kumari, P., Chaudhuri, S. (2016). Haptic Rendering of Thin, Deformable Objects with Spatially Varying Stiffness. In: Bello, F., Kajimoto, H., Visell, Y. (eds) Haptics: Perception, Devices, Control, and Applications. EuroHaptics 2016. Lecture Notes in Computer Science(), vol 9774. Springer, Cham.

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-42320-3

  • Online ISBN: 978-3-319-42321-0

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