力覚提示指向の大変形有限要素法シミュレーション(<特集>医療・福祉・ヘルスケアとVR) Finite Element Simulation of Large Deformation for Haptic Interaction(<Special Issue>VR for Medicine, Welfare, and Healthcare)
Haptic interaction with FEM-based deformable model is popular by using pre-calculated inversed stiffness matrix. However, large deformation induces non-ignorable error with linear FEM simulation. Recently, corotation method was introduced to reduce the artifact by calculating elastic forces in the rotation-canceled coordinates. However, inversion of updated whole stiffness matrix is computationally high. The aim of this study is to enable haptic interaction of FEM-based deformable model with reduced artifact in case of large deformation. In this paper, we proposed the direct and stepwise update method of inversed stiffness matrix with corotated element stiffness matrix. The experimental results showed smaller error compared with linear model and higher update rate by using the proposed method.
日本バーチャルリアリティ学会論文誌 18(4), 497-506, 2013