Toward application of point-based mechanics in haptic rendering

This thesis rst presents a point-based potential eld model to simulate suture. A fluid-based Level-of-detail (LOD) approach is developed for modeling adaptive suture which can offer efficient computational framework and flexible suture resolution for graphic and haptic rendering in run time. Another point-based mechanics approach for modeling 3D deformable objects is presented based on continuum mechanics. It models the deformable object as a discretized point system. Through implementing a weighting function, the global computation is localized without loss of quality for haptic rendering. Experimental comparisons between the point-based continuum mechanics approach and the finite element model (FEM) are presented. A point-based level-of-detail approach is developed and implemented in the haptic rendering application towards 3D point-based deformable object. A complete suturing task is developed based on the established point-based framework. Preliminary point-based graphic rendering and image processing techniques are also explored.