A novel parallel rhombus-chain-connected model for real-time softness haptic rendering

This paper presents a novel parallel rhombus-chain-connected haptic deformation model based on physics. Softness haptic deformation model with high precision and real-time calculation property is a key issue for interaction between human and virtual reality. In our model, when a certain chain structure unit is pushed or pulled by an external force, chain connected structure between every unit will make the chain structure units which are connected one by one move and produce deformation synchronously. Despite the haptic refresh rate requirement of more than 200 Hz, our parallel rhombus-chain-connected model satisfies real-time performance because the simple nature of the model, so that it can be convenient and fast for computation. Experiments are conducted with virtual human liver model, the result demonstrates that our model provides not only stable, but also realistic haptic feeling to user.