A Force/Displacement Transformation Method for Digitalized Virtual Deformable Object

In this paper, we precisely discuss two necessary methods to manipulate artificially a rheology object by another rigid object via force feedback (haptics) devise. The rheology object is quite popular material in our living life, e.g., food materials such as several kinds of noodles, human bodies such as organs and muscles, and an article of clothing. For this reason, it is very important for us to manipulate a rheology object by another rigid object. In our previous works, we finish modeling and calibrating MSD rheology model. Therefore, in this paper, we define some collision model to make and calibrate a set of external forces based on the swept volume of rheology object by rigid body. Also, we revisit some force transformation method between encountered surfaces of rheology object and rigid body. In this research, we successively regard both methods as penalty method and bilinear approximation method