A 6-DoF Zero-Order Dynamic Deformable Tool for Haptic Interactions of Deformable and Dynamic Objects

Abstract

Continuous collision detetion is required for haptic interactions with thin and fast-moving objects. However, previous studies failed to eliminate the force artifacts caused by the tool's inertia. In this paper, we propose a multi-sphere proxy method for a 6-DoF deformable virtual tool with continuous collision detection. We use Zero-order Dynamics to avoid force artifacts caused by the tool's inertia. In addition, we eliminate the "tunneling" problem introduced by the use of Zero-order Dynamics. As a result, we support fast motions of both the tool and the virtual object with sphere-mesh-level contacts and real-time simulation. Stability is guaranteed via a position-based dynamics simulator and an optional multi-rate architecture.