Abstract:The compound Fill Sphere Model (cFSM), which is an extension of common Fill Sphere Model, is widely used in real-time haptic interaction with deformable body. Comparing with finite element based model, the simplicity and efficiency are advantages of cFSM. However, determining implicit parameters of cFSM is a difficult task since a vivid deformation should be attained during haptic interaction. In this paper, to improve the simulation precision, parameter matrices of the cFSM are identified through an analytica… Show more
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