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Title
Japanese:PBDによる変形物力学レンダーリングの改善 
English:Improvement of Deformable objects Haptic Rendering based on Position based dynamics 
Author
Japanese: 丁 海陽, 三武 裕玄, 長谷川 晶一.  
English: Haiyang Ding, Hironori Mitake, Shoichi Hasegawa.  
Language Japanese 
Journal/Book name
Japanese:日本バーチャルリアリティ学会 第14回力触覚の提示と計算研究会 
English: 
Volume, Number, Page        
Published date Mar. 1, 2015 
Publisher
Japanese: 
English: 
Conference name
Japanese:日本バーチャルリアリティ学会 第14回力触覚の提示と計算研究会 
English: 
Conference site
Japanese:札幌市 
English: 
Abstract AbstractWe propose an improvement for stable haptic rendering method for deformable objects. The methodwe use for deformation calculation is called Oriented Particle (OP). Since OP is based on positionbased dynamics (PBD) simulation, we calculate user-input of virtual coupling by a PBD constraintin OP. This constraint solves haptic input by displacement to match the PBD feature. We call it"haptic constraint". The instability problem occurred in explicit integration haptic simulation issolved by this method and we achieved a great alleviation of oscillation during the interaction. Ourmain contribution is an improved of haptic rendering system even using high spring value or lowmodel stiffness. This work is achieved by taking advantage of PBD, especially for deformable modelinteraction.

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