具有空间变化刚度的薄的可变形物体的触觉绘制
Haptic Rendering of Thin, Deformable Objects with Spatially Varying Stiffness
摘要：
在现实世界中，我们经常遇到具有空间变化刚度的柔软物体，例如人类手掌或皮肤上的疣。在本文中，我们提出了一种新的方法来渲染薄，可变形的物体具有空间变化的刚度（非均匀材料）。我们使用经典的Kirchhoff薄板理论来计算变形。通常，基于物理的任意3D表面的渲染是复杂且耗时的。因此，我们近似的3D表面局部的2D平面使用面积保持映射技术- Gall-Peters映射。一旦通过求解四阶偏微分方程来计算变形，我们将点投影回原始对象上以进行适当的触觉渲染。该方法通过用户实验进行了验证，并被认为是现实的。
英文摘要：
In the real world, we often come across soft objects having spatially varying stiffness, such as human palm or a wart on the skin. In this paper, we propose a novel approach to render thin, deformable objects having spatially varying stiffness (inhomogeneous material). We use the classical Kirchhoff thin plate theory to compute the deformation. In general, the physics-based rendering of an arbitrary 3D surface is complex and time-consuming. Therefore, we approximate the 3D surface locally by a 2D plane using an area-preserving mapping technique - Gall-Peters mapping. Once the deformation is computed by solving a fourth-order partial differential equation, we project the points back onto the original object for proper haptic rendering. The method was validated through user experiments and was found to be realistic.
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