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Interactive Haptics and Display for Viscoelastic Solids


Schoner,  Jeffrey Lawrence
International Max Planck Research School, MPI for Informatics, Max Planck Society;

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Schoner, J. L. (2003). Interactive Haptics and Display for Viscoelastic Solids. Master Thesis, Universität des Saarlandes, Saarbrücken.

Cite as: http://hdl.handle.net/11858/00-001M-0000-0027-F859-E
This thesis describes a way of modeling viscoelasticity in deformable solids for interactive haptic and display purposes. The model is based on elastostatic deformation characterized by a discrete Green's function matrix, which is extended using a viscoelastic add-on. The underlying idea is to replace the linear, time-independent relationships between the matrix entries, force, and displacement with non-linear, time-dependent relationships. A general framework is given, in which different viscoelastic models can be devised. One such model based on physical measurements is discussed in detail. Finally, the details and results of a system that implements this model are described.