Modelling objects for force and tactile feedback

Current research is investigating the combination of several modelling techniques to provide a flexible object model which describes behaviour under the application of manipulative forces. The current model is based on lattice structures that can provide both surface and structural behaviour. Bounding spheres at the lattice surface are used to provide collision detection. Impact and response forces are calculated to provide feedback to the user. Our goal is to provide a framework which enables both tactile and force to be incorporated into a virtual world in the same way as shape and colour