Dynamic deformable models for enhanced haptic rendering in virtual environments

Currently there are no deformable model implementations that model a wide range of geometric deformations while providing realistic force feedback for use in virtual environments with haptics. The few models that exist are computationally very expensive, are limited in terms of shape coverage and do not provide proper haptic feedback. We use dynamic deformable models with local and global deformations governed by physical principles in order to provide efficient and true force feedback. We extend the shape class of Deformable Superquadrics (DeSuq) to provide compact geometric representation using few parameters, while at the same time providing realistic haptic viscoelastic feedback. Dynamics associated with rigid and deformable bodies are modeled by the use of the Lagrange equations. Implementation of these is currently under progress using GHOST^TM libraries on a PHANToM^TM haptic device