Haptic Rendering of Hyperelastic Models ...
Type de document :
Communication dans un congrès avec actes
Titre :
Haptic Rendering of Hyperelastic Models with Friction
Auteur(s) :
Courtecuisse, Hadrien [Auteur]
Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie [ICube]
Simulation in Healthcare using Computer Research Advances [SHACRA]
L'Institut hospitalo-universitaire de Strasbourg [IHU Strasbourg]
Adagolodjo, Yinoussa [Collaborateur]
Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie [ICube]
Delingette, Hervé [Auteur]
Analysis and Simulation of Biomedical Images [ASCLEPIOS]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie [ICube]
Simulation in Healthcare using Computer Research Advances [SHACRA]
L'Institut hospitalo-universitaire de Strasbourg [IHU Strasbourg]
Adagolodjo, Yinoussa [Collaborateur]
Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie [ICube]
Delingette, Hervé [Auteur]
Analysis and Simulation of Biomedical Images [ASCLEPIOS]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Titre de la manifestation scientifique :
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Ville :
Hamburg
Pays :
Allemagne
Date de début de la manifestation scientifique :
2015-09-28
Éditeur :
IEEE
Date de publication :
2015-07
Discipline(s) HAL :
Informatique [cs]/Modélisation et simulation
Résumé en anglais : [en]
— 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, ...
Lire la suite >— 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.Lire moins >
Lire la suite >— 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.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Collections :
Source :
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