Real time and efficient haptic feedback framework for deformable objects

On account of the high computational speed required for force feedback and the detailed graphic required for deformation feedback, this paper presents a real time and efficient haptic feedback framework by subdividing the area of interest on a relatively coarse triangular mesh. When a contact is detected, a portion of the colliding surface is subdivided and a particle system produced, which is used for deformation based on the approximate velocity cone theory. Simultaneously, a spring-damper model is used for computing the contact force. Finally, these techniques are tested and implemented in a surgery planning simulation system.