Elastic object manipulation with force feedback using coarse-to-fine representation of mass-spring models in virtual environment

摘要

This report describes a system of interactively manipulating an elastically deformable object with force feedback. Mass-spring models are used for representing elastic objects in virtual environment because of the ability to deform objects geometrically and topologically in real time. The increase of particles and springs for representing more complex deformation usually prevents real-time calculation of simulation. Another important issue is to physically model the mutual relationship between an elastic object and a manipulator. This report proposes an efficient method of elastic object deformation using mass-spring models of coarse-to-fine representation based on the degree of deformation, and a model of the mutual relationship between an elastic object and a manipulator.