Method for real-time simulation of haptic interaction with deformable objects using GPU-based parallel computing and homogeneous hexahedral elements
Method for real-time simulation of haptic interaction with deformable objects using GPU-based parallel computing and homogeneous hexahedral elements
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DOI：
10.1007/s00466-020-01815-3
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发表时间：
2020-01-16
影响因子：
4.1
通讯作者：
Lee, Doo Yong
中科院分区：
文献类型：
--
作者：
Byeon, Seong Pil;Lee, Doo Yong
本文提出了一种模拟与可变形物体的实时触觉交互的方法。可变形模型由单一类型的正六面体组成。利用这种均匀性来提高变形计算的效率。使用反映六面体变形结果的移动最小二乘函数来近似模型边界。提出了一种自适应逼近模型边界的方法，以实现触觉环中的有效碰撞处理。所提出的方法可以在不到 1 ms 的时间内模拟 16,481 个节点的模型，这比文献中的先前方法有显着改进。模型边界和六面体之间的小间隙可能会导致所提出的方法出现错误。考虑人体组织特性的数值例子表明，误差小于人体的可察觉差异。
This paper proposes a method for simulating real-time haptic interaction with deformable objects. The deformable model consists of regular hexahedrons of a single type. This homogeneity is exploited to improve the efficiency in deformation computations. Model boundaries are approximated using a moving-least-squares function reflecting the deformation results of the hexahedrons. A method for adaptively approximating the model boundaries is presented for efficient collision handling in the haptic loop. The proposed method can simulate a model of 16,481 nodes in less than 1 ms, which is a significant improvement over the previous methods in the literature. Small gap between the model boundary and the hexahedrons can cause errors in the proposed method. Numerical examples considering the characteristics of human tissues show that the errors are less than just-noticeable difference of human.