Haptic Interaction With Fluid Media

摘要

We present a method for integrating force feedback with interactive fluid simulation. We use the method described to generate haptic display of an incompressible Navier-Stokes fluid simulation. The force feedback calculation is based on the equations of fluid motion, and enables us to generate forces as well as torques for use with haptic devices capable of delivering torque. In addition, we adapt our fluid-haptic feedback method for use in a painting application that is based on fluid simulation, enabling the artist to feel the paint. Finally we describe a force filtering technique to reduce the artifacts that result from using 60Hz simulation data to drive the 1 KHz haptic servo loop, a situation which often arises in practice.