Finite Element analysis can provide accurate deformable models for soft-robots. However,
using such models is very difficult in a real-time system of control. In this paper, we introduce …

In this paper, we first describe the construction of a finite element model of the human spine
that may be used to assist the investigation of clinical problems by predicting its …

The paper is dedicated to haptic rendering of complex physics-based environment in the
context of surgical simulation. A new unified formalism for modeling the mechanical …

Visuo-haptic mixed reality consists of adding to a real scene the ability to see and touch
virtual objects. It requires the use of see-through display technology for visually mixing real …

Operations such as object manipulation and palpation rely on the fine perception of contact
forces, both in time and space. Haptic simulation of grasping, with the rendering of contact …

Visuo-haptic mixed reality consists of adding to a real scene the ability to see and touch
virtual objects. It requires the use of see-through display technology for visually mixing real …

The command of haptic devices for rendering direct interaction with the hand requires
thorough knowledge of the forces and deformations caused by contact interactions on the …

“Haptic rendering” or “haptic display” can be broadly defined as conveying information about
virtual objects or data to a user through the sense of touch. Among all applications of haptic …

This paper presents an original method for interactions' haptic rendering when treating
hyperelastic materials. Such simulations are known to be difficult due to the non-linear …

Haptic interaction with different types of materials in the same scene is a challenging task,
mainly due to the specific coupling mechanisms that are usually required for either fluid …