Exploiting GPUs for visuo-haptic modelling of deformable tissues

In this paper we present a new method for real-time interactive haptic and graphic rendering of objects locally deformed by multiple contacts. Core algorithms have been designed to be executable also on videoboard´s GPU, thus taking advantage of parallel matrix and vector computational power. Although complex physical simulation has been simplified to run on GPUs, results are characterized by high visio-tactile realism perceived by users. Graphical rendering algorithm can be easily added to pre-existing vertex shaders/programs. The proposed method makes use of common triangular meshes, thus making the method a good choice when adding haptic feedback to existing graphical applications. The proposed algorithm has been tested to simulate tactile interaction with soft tissues