Interactive 3D haptic carving using combined voxels and mesh

We present a system to simulate the realistic real-time carving of rigid objects. The system allows the user to move a virtual burr-like tool to carve the object using a haptic device. This tool removes the rigid volume of the object as it intersects the object, and the results are displayed in 3D. In our system the volume is represented using voxels, but is displayed using a triangle mesh.