HIVED - a passive system for haptic interaction and visualization of elastic deformations

This paper presents a system for haptic interaction and visualization of elastic deformations (HIVED). The system represents a platform for modeling various mechanical properties of deformable objects and is developed based on the key concept of passivity in haptic environments. Estimation of force reflection to the user's hand, based on the law of energy conservation, creates a physically-based method that adds realism to human-haptic interaction. Implementation of the HIVED system is accomplished using GHOST SDK/spl trade/ libraries on a PHANToM/spl trade/ haptic device, and simulation experiments on a variety of geometries with different material properties are conducted.