A dynamic friction model for haptic simulation of needle insertion.
This paper describes a new friction model, termed the brush model, suitable for haptic simulations of needle insertion in virtual environments. A novel two-layer surface contact model is presented that provides real-time rendering of friction forces at haptic refresh rates. A significant modification to the brush model is also presented, leading to a new friction model, termed the fixed bristle brush model. Simulation results show that the two models can accurately reflect the experimentally observed friction characteristics. This paper presents a simulation of friction during needle insertion; results agree with the experimental observations.
Zhang
Yinghui
Y
Department of Computer Science, The University of Hull, Kingston upon Hull, HU6 7RX, UK.
Phillips
Roger
R
D003198:Computer Simulation; D017276:Friction; D006801:Humans; D015233:Models, Statistical; D009339:Needles; D014110:Touch; D014950:Wounds, Penetrating