NDLI: Simulation of deformable environment with haptic feedback on GPU

Content Provider	IEEE Xplore Digital Library
Author	Altomonte, M. Zerbato, D. Botturi, D. Fiorini, P.
Copyright Year	2008
Description	Author affiliation: Dept. of Comput. Sci., Univ. of Verona, Verona (Altomonte, M.; Zerbato, D.; Botturi, D.; Fiorini, P.)
Abstract	Interactive simulations of deformable bodies are a growing research area with possible applications in several fields, i.e. computer aided surgery. The main implementation issue is to mimic the real behavior of the body at the extremely high rates required by haptic devices. Since even high-end computers have inadequate performance, one possible solution is to exploit the parallelism of modern Graphics Processing Units. In this paper we present our research aiming at moving the whole computational process from the CPU to the GPU taking advantage of the computational power of the graphics hardware. We use a mass-spring model, augmented with local damping coefficients and volume preservation forces. Collision detection is performed against external rigid bodies with high complexity mesh, such as the skeletonpsilas one. The user interacts with the model by controlling virtual tools, i.e. probes or tweezers. Haptic forces are computed on GPU and the results are asyncronously transferred to the CPU. Our approach can simulate the deformation of complex models with gravity and interaction with environment and tools at a frame rate higher than 1 KHz, making it suitable for visual rendering and haptic feedback.
Starting Page	3959
Ending Page	3964
File Size	573510
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650837
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computational modeling Springs Surgery Force Deformable models Haptic interfaces Arrays
Content Type	Text
Resource Type	Article

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