Haptic Rendering of Thin and Soft Objects

In this work, we take up the problem of modeling deformations, both local and global, along with stable translations for radially-thin virtual objects especially like that of a wire or a spaghetti noodle, during haptic manipulation. To achieve this we recommend the use of mass-spring systems rather than geometric models like vertex based and free form deformation as they do not model the physics behind the interactions. Finite Equation Methods (FEMs) are also not chosen as they are computationally expensive for fast haptic interactions and force feedback. We have explored different types of distribution of masses within the volume of the object, in order to come up with a suitable distribution of masses and network of springs and dampers so that the simulations mimic the behavior of a real object. We also model the constraint forces like normal and frictional forces between the object and the plane on which it is kept. Further, we simulate the effect of a varying temperature distribution of the object and discuss how anisotropic deformation of an object may be effected. We demonstrate through experimentations that it is indeed possible to haptically interact with virtual soft objects.