Realistic haptic rendering for highly deformable virtual objects

Previous works have presented solutions for stability problems arising from the difference between the sampling rate requirements for haptic devices (about 1 kHz) and the update rates of the physical objects being simulated (about 10 Hz). These methods work well when the objects are convex and non-deformable but, when the object is deformable, these methods might fail in obtaining realistic force feedback and exact graphical rendering. The reason of this is due to the concavities and unknown shapes that may appear in the deformable objects. This paper proposes to perform haptic interaction with the local topology of the object, taking into account the unknown changes and the concavities in the object shape. This local model is updated at the simulation frequency rate.