Insufficient vision information such as occlusion and low resolvability is one of the important issues that limit the micromanipulation and microassembly. In this paper, we proposed the active vision system that can interact with the environment by changing optical system parameters such as spatial position, orientation and focus plane. As an optomechatronic system, the proposed system integrat...

Deformable Monocular SLAM algorithms recover the localization of a camera in an unknown deformable environment. Current approaches use template-based tracking to pose and deformation map. These methods underlying global model. In this letter, we introduce novel method with local model for each point. Each map point is defined as single textured surfel that moves independently other points. Than...

To carry out a stable haptic interaction with a dynamic virtual environment containing several moving and/or deformable bodies is challenging. To achieve this, we present a collision detection algorithm based on a segmentation of the space with a regular voxel grid. Interpenetration is quickly estimated using a sphere decomposition of the bodies. Thereafter, we use the voxel grid as a still ima...

In this thesis, we are dealing with computer graphics modeling and animation of highlydeformable materials. Our work is aimed at creating virtual physically-based models of mat-ter, able to automatically deform due to interactions with the environment. Coping withlarge deformation is known to be time consuming, so efficiency and visual quality are thekey issues as they can o...

The majority of manipulation systems are designed with the assumption that the objects’being handled are rigid and do not deform when grasped. This paper addresses the problem of robotic grasping and manipulation of 3-D deformable objects, such as rubber balls or bags filled with sand.‘ Specifically, we have developed a generalized learning algorithm for handling of 3-D deformable objects in wh...

In this article, we describe a general method for the reconstruction and animation of deformable 3D objects. These objects are initially deened by a closed surface model, which is lled with particles. For this, new particles are progressively generated inside the boundary. When a new particle is introduced, it enters in interaction with all the previously existing particles. It will also collid...

In the industrial environments, it is common that robotic or remote interaction with both rigid objects and soft or deformable objects is required. However, it is usual in such an environment that only one mode of manipulation is used, and that little or no distinction is made between rigid or deformable objects. The ability to “feel” or touch an object easy a naturalistic way to determine what...

This paper considers the modelling of human limbs featuring deformable tissue, which automatically exhibit realistic behaviour when simulated in a synthetic environment. A limb model is proposed that incorporates a simple skeleton joint, muscle tissue, non-muscle tissue (e.g. fat), tendons and a skin layer. The only input parameters to the model are for simple low-level control of muscle activa...

Based on some mathematical and statistical approaches, our study leads to some conclusions concerning the procedures related to the orodental prosthetics. Occlusal equilibration in orodental prosthetics is a major issue because besides motivating patients for a regular daily oral hygiene, it could significantly increase the longevity of FPR. More dental hygiene information should be given after...

Modeling organ deformation in real remains a challenge in virtual minimally invasive (MIS) surgery simulation. In this paper, we propose a new hybrid deformable model to simulate deformable organs in the real-time surgical training system. Our hybrid model uses boundary element method (BEM) to compute global deformation based on a coarse surface mesh and uses a mass-spring model to simulate the...