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Finite Element Methods for real-time Haptic Feedback of Soft-Tissue Models in Virtual Reality SimulatorsWe have applied the linear elastic finite element method to compute haptic force feedback and domain deformations of soft tissue models for use in virtual reality simulators. Our results show that, for virtual object models of high-resolution 3D data (>10,000 nodes), haptic real time computations (>500 Hz) are not currently possible using traditional methods. Current research efforts are focused in the following areas: 1) efficient implementation of fully adaptive multi-resolution methods and 2) multi-resolution methods with specialized basis functions to capture the singularity at the haptic interface (point loading). To achieve real time computations, we propose parallel processing of a Jacobi preconditioned conjugate gradient method applied to a reduced system of equations resulting from surface domain decomposition. This can effectively be achieved using reconfigurable computing systems such as field programmable gate arrays (FPGA), thereby providing a flexible solution that allows for new FPGA implementations as improved algorithms become available. The resulting soft tissue simulation system would meet NASA Virtual Glovebox requirements and, at the same time, provide a generalized simulation engine for any immersive environment application, such as biomedical/surgical procedures or interactive scientific applications.
Document ID
Document Type
Frank, Andreas O. (NASA Ames Research Center Moffett Field, CA United States)
Twombly, I. Alexander (NASA Ames Research Center Moffett Field, CA United States)
Barth, Timothy J. (NASA Ames Research Center Moffett Field, CA United States)
Smith, Jeffrey D. (NASA Ames Research Center Moffett Field, CA United States)
Dalton, Bonnie P.
Date Acquired
August 20, 2013
Publication Date
January 5, 2001
Subject Category
Life Sciences (General)
Distribution Limits
Work of the US Gov. Public Use Permitted.