Physically-based analytical modelling of deformable haptic environments

A new modelling technique for deformable haptic virtual environments is presented. Using analytical results from classical continuum mechanics, the physically-based deformation of an infinite elastic half-space is computed. The surface is haptically rendered in a direct manner, eliminating the traditional surface contact proxy model. The new model manages to combine an analytical surface representation with a physically-based modelling paradigm, allowing the simulation to run quickly without sacrificing accuracy. Such models exact models for simple geometries and good local approximations for more complicated structures. Experimental results for sliding interactions on an infinite-half space are presented comparing a mass spring network with the new analytical technique.