Haptic simulation of linear elastic media with fluid pockets

TitleHaptic simulation of linear elastic media with fluid pockets
Publication TypeConference Paper
Year of Publication2004
AuthorsGosline, A. H., S. E. Salcudean, and J. Yan
Conference NameHaptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. 12th International Symposium on
Pagination266 - 271
Date Publishedmar.
Keywords512 Hz, computational fluid dynamics, condensation techniques, digital simulation, elasticity, finite element analysis, finite element method, fluid cavity, fluid pocket simulation, fluid pressure, force boundary condition, gelatin phantom, haptic interfaces, haptic simulation, incompressible fluid pocket, iterative solver, linear elastic media, medical computing, needle insertion simulation, phantoms

A fast technique for simulating fluid pockets enclosed in an elastic body has been developed using the finite element method. By treating fluid pressure as a force boundary condition, the relationship between the volume and pressure of a fluid cavity can be enforced with an iterative solver. This computational approach has been shown to agree with experimental data taken from a gelatin phantom that contains a small fluid pocket. Combining linear methods and condensation techniques with this iterative solver, fast simulation of elastic bodies that include fluid pockets can be achieved. For example, an extension of a two dimensional needle insertion simulation can be carried out at 512Hz for a 24 node incompressible fluid pocket.


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