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Data-Driven Haptic Rendering – from Viscous Fluids to Visco-Elastic Solids

Raphael Höver, Gábor Kósa, Gábor Székely, Matthias Harders
Transactions on Haptics
Vol. 2, No. 1, pp. 15-27, January 2009


In this article we present extensions of our earlier work on data-driven haptic rendering. Haptic feedback is generated directly by interpolating measured data. The selection of appropriate data dimensions is guided by the structure of the generalized Maxwell model. Material elasticity and viscosity are reproduced, including transient material effects like stress relaxation. All these properties can be nonlinear and mutually dependent. Besides visco-elastic bodies, we also apply our method to viscous fluids. We present results for several materials and compare the errors of the interpolated forces with perceptual thresholds reported in the literature. Moreover, we examine how these errors behave if different subjects perform the recordings on which the data-driven haptic feedback is based.

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  author = {Raphael H\"over and Gábor Kósa and Gábor Székely and Matthias Harders},
  title = {Data-Driven Haptic Rendering – from Viscous Fluids to Visco-Elastic Solids},
  journal = {Transactions on Haptics},
  year = {2009},
  month = {January},
  pages = {15-27},
  volume = {2},
  number = {1},
  keywords = {data-driven haptic rendering, virtual reality, deformable models}