A Parallel Rhombus-chain-connected Model Applied to Real-time Softness Haptic Display
用于实时柔性触觉再现的平行菱形链连接模型

Softness haptic deformation model with high precision and fast speed is a key issue to the realization of haptic rendering system. A novel parallel rhombus-chain-connected haptic deformation model based on physics is proposed in this paper. The accumulation of relative displacements in every chain structure unit is equal to the object surface deformation, and the resultant force of springs is equal to the external force. Haptic display system is established using the hand controller of Delta 6-DOF, then contact deformation of soft objects and real-time virtual haptic feedback is simulated. Experiment results show that the proposed model not only has less calculation but also can ensure synchronously higher precision in calculating contact force and deformation, and is able to satisfy the requirement of virtual reality system for real time performance and accurate operation.