Real Time Haptic Simulation of Deformable Bodies

摘要

In this thesis, a force modeling method for haptic simulations of deformable bodies is presented. It can be used in different areas, such as virtual reality, telepresence and robotics. The numerical models are based on the finite element method. The modeling procedure includes geometric measurement and modeling, as well as implementation of material characteristics. By the implementation of constitutive equations, linear elasticity, viscoelasticity and inhomogeneity are taken into account. In order to obtain real time haptic simulations (for instance 1000Hz), a FE model is combined with a corresponding analytical contact force model by using an extended Kalman filter. To simulate a concrete object, model learning and model identification are necessary. Then the model parameters can be optimized with reference data. The modeling method is test and verified by simulations and experiments. Further more, two application examples are detailed.