Haptic Interaction with Deformable Objects

Focusing on enhancing user interaction in Virtual Reality, this textbook explores the integration of haptic feedback with visual immersion. It details the principles necessary for developing VR systems that achieve high update rates for force feedback, particularly in simulating contact forces during a two-finger grasp of textiles. The work introduces innovative algorithms to accurately render small-scale surface properties, like roughness, while addressing the dynamic behavior of textiles. Comprehensive analysis highlights challenges encountered and solutions devised throughout the research.