This paper presents a physically based method to deal with haptic feedback of manipulated deformable virtual objects in contact with rigid or deformable environment. The haptic rendering algorithm is based on the Signorini’s formulation of the contact as proposed in theoretical mechanics. Since haptic interaction requires high refresh rates, a multi-threaded methodology, sharing configuration v...

This paper describes a physically-based simulation for grasping tasks in an interactive environment. Fingertips and interacting objects are based on quasi-rigid models. The quasi-rigid model combines a rigid model for dynamic simulation and a deformable model for resolving local contact with friction and surface deformation. We simulate deformation by adding compliance on control points in the ...

Deflection analysis of a simply supported microbeam subjected to a concentrated load at the middle is investigated on the basis of a shear deformable beam theory and non-classical theory. Effects of shear deformation and small size are taken into consideration by hyperbolic shear deformable beam theory and modified strain gradient theory, respectively. The governing differential equations and c...

Designing autonomous robotic systems able to manipulate deformable objects without human intervention constitutes a challenging area of research. The complexity of interactions between a robot manipulator and a deformable object originates from a wide range of deformation characteristics that have an impact on varying degrees of freedom. Such sophisticated interaction can only take place with t...

Simulations for training and analysis incorporating haptic feedback are becoming more popular and the sophistication of these simulations is increasing. Many systems now allow a range of simulated rigid tools to be used in haptic feedback applications, such as scalpels in surgical simulations. However, very often the rigid property of the simulated tool does not correspond to the flexibility of...

This is a project-based thesis work initiated by Nokia Research Center. The goal of this project is to investigate deformable user interfaces (DUIs) on mobile devices. Following background studies and identification of the research questions, various design methodologies were developed to encounter the new interaction style. An explorative experiment was designed to study the role of form in DU...