Preliminary results on data-driven haptic rendering of deformable object in 2D

This paper presents some techniques used for data-driven haptic rendering of deformable object in two dimensional space considering multi-contact with 2-DOF virtual proxy. Torque and force data required for haptic rendering is calculated in advance by an iteration method. Bi-cubic interpolation is used in a haptic-loop and moving average filter is used in a graphics-loop, both of which is aimed at making smooth and realistic haptic interaction. We exploit discrete-time non-iterative passive mechanical integrator (NPMI) and hybrid-time passive virtual coupling for simulating virtual proxy to enhance passivity of the system. At last, we examined the quality of generated haptic interaction by PHANTOM Omni.