Force modeling with parameter estimation for real time force simulation

This paper describes a method and its implementation to create force models of deformable bodies for real time force simulation and force prediction. The force models are based on linear finite element models. The important parameters in the models are geometry and material parameters. Geometric modeling and parameter identification are necessary for this modeling method. For this purpose surface reconstruction, model meshing, and model parameter identification algorithms are implemented. In order to calculate force simulations at real time the computational expense is reduced. The performance of this modeling method is tested in experiments. Furthermore a special experiment for force prediction and haptic simulation in a telepresence system is introduced as an example of the practical application.