We present an efficient algorithm for haptic rendering of deformable bodies with highly detailed surface geometry using a fast contact handling algorithm. We exploit a layered deformable representation to augment the physically based deformation simulation with efficient collision detection, contact handling and interactive haptic force feedback.


  • 12th International Conference on Human-Computer Interaction. Beijing, China, July 2007. 
  • World Haptics Conference 2007. Research Sketch, Tsukuba, Japan.  Download: Sketch