论文标题
具有空间变化刚度的薄薄型物体的触觉渲染
Haptic Rendering of Thin, Deformable Objects with Spatially Varying Stiffness
论文作者
论文摘要
在现实世界中，我们经常会遇到具有空间变化刚度的柔软物体，例如人掌或皮肤上的疣。在本文中，我们提出了一种新颖的方法，用于渲染具有空间变化刚度（不均匀材料）的薄且可变形的物体。我们使用经典的Kirchhoff薄板理论来计算变形。通常，任意3D表面的基于物理学的渲染是复杂且耗时的。因此，我们使用区域保护映射技术-All-Peters映射通过2D平面局部近似3D表面。一旦通过求解四阶部分微分方程来计算变形后，我们将将点投射回原始对象，以进行适当的触觉渲染。该方法通过用户实验验证，发现现实。
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.
