A unified treatment of elastostatic contact simulation for real time haptics
Bibliographic record
Abstract
We describe real-time, physically-based simulation algorithms for haptic interaction with elastic objects. Simulation of contact with elastic objects has been a challenge, due to the complexity of physically accurate simulation and the difficulty of constructing useful approximations suitable for real time interaction. We show that this challenge can be effectively solved for many applications. In particular global deformation of linear elastostatic objects can be efficiently solved with low run-time computational costs, using precomputed Green's functions and fast low-rank updates based on Capacitance Matrix Algorithms. The capacitance matrices constitute exact force response models, allowing contact forces to be computed much faster than global deformation behavior. Vertex pressure masks are introduced to support the convenient abstraction of localized scale-specific point-like contact with an elastic and/or rigid surface approximated by a polyhedral mesh. Finally, we present several examples using the CyberGlove™ and PHANToM™ haptic interfaces.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.002 | 0.002 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.006 | 0.002 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".