Towards Point-Based Haptic Interactions With Deformable Objects

In this paper, a novel haptic interaction framework for deformable objects is introduced and discussed. Unlike existing frameworks, the proposed approach is based on point-based mechanics framework. Contrary to the finite-element method, the method of this paper does not rely on any predefined mesh representation, and it also incorporates real material properties in the modeling framework. As a result, the haptic interaction produces realistic model behaviour and force feedback. In addition, the framework can be constructed using the actual 3D volume data obtained from various imaging modalities. In this paper, preliminarily implementation issues of this new frame work are discussed and experimental data are compared to the FEM.