Sensing, Acquisition, and Interactive Playback of Data-based Models for Elastic Deformable Objects

In this paper we describe the design and implementation of an auto-mated system to build models of elastic deformable objects and to ren-der these models in an interactive virtual environment. By automat-ing model creation, a greater number of models and models that are more realistic can be included in these interactive simulations. Model geometry is acquired by a novel range sensor. Techniques for con-tact detection, slip detection on deformable surfaces, and enhanced open-loop force control enable haptic model acquisition through ac-tive probing with a haptic device. For model rendering, the force field is approximated from these measured samples. KEY WORDS—force control, force and tactile sensing, range sensing, haptics, deformable object modeling 1