References(14) Cited-By(2) While we speak of the haptic model, we are still limited to a mass-spring representation or an FEM. This paper proposes a unified model which haptically renders an object without reference to its material property in an energy domain. Furthermore, we develop a 3D mouse type haptic interface prototype for evaluating the proposed method. We first represent a simple 1D object with the proposed method and extend it to 2D deformable object. We experiment with a virtual object of size 20x20 elements to verify that our approach conveys stable haptic sensation to users.
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