A New Haptic Model Using Bond Graphs

Abstract

Main difficulty in the haptic rendering is to compute and generate stable feedback force from not only rigid objects but also deformable object with a same haptic model. This paper presents a new model which can simulate the haptic behavior of rigid/deformable objects without changing haptic representation. We call this representation unified haptic model. For constructing unified haptic model, we use a bond graph representation which is a unified modeling method of a wide range of materials in the energy domain. Using bond graphs, we first define a 1D particle model for elastic and plastic deformation. After that it is extended to 2D and 3D deformable models. Finally, the proposed model is simulated and animated.