Modeling global deformation using circular beams for haptic interaction

In this paper, a new method to model the global deformation between a rigid object and an elastic object with a hole is presented. This method extends the idea of beam-skeletons [10] by introducing curved cantilever beams for efficient modeling of global deformation of elastic objects with holes. The method is implemented and tested on different examples. Results from three examples are given to demonstrate the efficiency and effectiveness of the approach.

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