Haptic Rendering of Hyperelastic Models with Friction - Archive ouverte HAL Access content directly
Conference Papers Year : 2015

Haptic Rendering of Hyperelastic Models with Friction


— This paper presents an original method for inter-actions' haptic rendering when treating hyperelastic materials. Such simulations are known to be difficult due to the non-linear behavior of hyperelastic bodies; furthermore, haptic constraints enjoin contact forces to be refreshed at least at 1000 updates per second. To enforce the stability of simulations of generic objects of any range of stiffness, this method relies on implicit time integration. Soft tissues dynamics is simulated in real time (20 to 100 Hz) using the Multiplicative Jacobian Energy Decomposition (MJED) method. An asynchronous preconditioner, updated at low rates (1 to 10 Hz), is used to obtain a close approximation of the mechanical coupling of interactions. Finally, the contact problem is linearized and, using a specific-loop, it is updated at typical haptic rates (around 1000 Hz) allowing this way new simulations of prompt stiff-contacts and providing a continuous haptic feedback as well.
Fichier principal
Vignette du fichier
IROS15_1122_FI.pdf (2.43 Mo) Télécharger le fichier
Vignette du fichier
sensable_friction_00000003 (1).png (162.26 Ko) Télécharger le fichier
Origin Files produced by the author(s)
Format Figure, Image
Origin Files produced by the author(s)

Dates and versions

hal-01184113 , version 1 (14-10-2015)



Hadrien Courtecuisse, Yinoussa Adagolodjo, Hervé Delingette, Christian Duriez. Haptic Rendering of Hyperelastic Models with Friction. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2015, Hamburg, Germany. pp.591-596, ⟨10.1109/IROS.2015.7353432⟩. ⟨hal-01184113⟩
691 View
653 Download



Gmail Mastodon Facebook X LinkedIn More